diff --git "a/json/train/data-00000-of-00160.json" "b/json/train/data-00000-of-00160.json"
new file mode 100644--- /dev/null
+++ "b/json/train/data-00000-of-00160.json"
@@ -0,0 +1,4929 @@
+{"uid":"13967671168355166981","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\npick the popcorn bag from the another table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the chips into bin. last 20 steps: 1- pick the white bag from the table 2- place the packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- pick the popcorn bag from the another table 2- pick the green bag from another table 3- Place the green packet in the box 4- pick the back bag from another table 5- Place the blue packet in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the popcorn bag from the another table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the popcorn bag from the another table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the chips into bin. Q: immediate next step? \u003cPRED\u003eA: pick the popcorn bag from the another table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the popcorn bag from the another table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the chips into bin. last 20 steps: 1- pick the white bag from the table 2- place the packet in the tray Q: immediate next step? \u003cPRED\u003eA: pick the popcorn bag from the another table\n\u003c/PRED\u003e","video":"3431221405680753805.mp4"}
+{"uid":"13796798665756662878","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the green bag from another table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the green bag from another table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the chips into bin. Q: immediate next step? \u003cPRED\u003eA: pick the green bag from another table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the green bag from another table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the chips into bin. last 20 steps: 1- pick the white bag from the table 2- place the packet in the tray 3- pick the popcorn bag from the another table 4- place that popcorn bag in the paper tray Q: immediate next step? \u003cPRED\u003eA: pick the green bag from another table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the green bag from another table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the chips into bin. last 20 steps: 1- pick the white bag from the table 2- place the packet in the tray 3- pick the popcorn bag from the another table 4- place that popcorn bag in the paper tray Q: next 5 steps? \u003cPRED\u003eA: 1- pick the green bag from another table 2- Place the green packet in the box 3- pick the back bag from another table 4- Place the blue packet in the box 5- pick the green bag from another table\n\u003c/PRED\u003e","video":"17747252977533113662.mp4"}
+{"uid":"3881624604725639847","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nexit the room Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5615749701908666014.mp4"}
+{"uid":"17250542376199611002","text":"\u003ctask:success:discrete:True\u003e\nplace the blue packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the blue packet in the tray\n\u003c/PRED\u003e","video":"16817431784783565478.mp4"}
+{"uid":"13137408704011487097","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick the popcorn bag from the another table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick the popcorn bag from the another table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2406159899357651894.mp4"}
+{"uid":"9733862401810801541","text":"\u003ctask:success:discrete:True\u003e\nPlace the brown packet in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the brown packet in the box\n\u003c/PRED\u003e","video":"3561893026116641182.mp4"}
+{"uid":"7435929472035136415","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the brown packet in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the brown packet in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the chips into bin. Q: immediate next step? \u003cPRED\u003eA: Place the brown packet in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the brown packet in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the chips into bin. last 20 steps: 1- pick the white bag from the table 2- place the packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Place the brown packet in the box 2- pick the green bag from another table 3- Place the green packet in the box 4- pick the back bag from another table 5- Place the blue packet in the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the chips into bin. last 20 steps: 1- pick the white bag from the table 2- place the packet in the tray Q: immediate next step? \u003cPRED\u003eA: Place the brown packet in the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the brown packet in the box\n\u003c/PRED\u003e","video":"746656174130188077.mp4"}
+{"uid":"802741784439421653","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the packet in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14144672782704962877.mp4"}
+{"uid":"1531675704397119669","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the chips into bin. last 20 steps: 1- pick the white bag from the table Q: next 5 steps? \u003cPRED\u003eA: 1- place that white packet in the paper tray 2- pick the popcorn bag from the another table 3- place that popcorn bag in the paper tray 4- pick the green bag from another table 5- Place the green packet in the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place that white packet in the paper tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place that white packet in the paper tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the chips into bin. Q: immediate next step? \u003cPRED\u003eA: place that white packet in the paper tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace that white packet in the paper tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace that white packet in the paper tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the chips into bin. last 20 steps: 1- pick the white bag from the table Q: immediate next step? \u003cPRED\u003eA: place that white packet in the paper tray\n\u003c/PRED\u003e","video":"6620811186277509760.mp4"}
+{"uid":"1637979937717450782","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace orange packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7882708871585527680.mp4"}
+{"uid":"4941472356313027170","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the paper cup in stack Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13910221528319785589.mp4"}
+{"uid":"15796730996995336975","text":"\u003ctask:success:discrete:False\u003e\nmove forward Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move forward\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the chips into bin. last 20 steps: 1- pick the white bag from the table 2- place the packet in the tray 3- pick the popcorn bag from the another table 4- place that popcorn bag in the paper tray 5- pick the green bag from another table 6- Place the green packet in the box 7- pick the back bag from another table 8- Place the blue packet in the box 9- pick the green bag from another table Q: next 5 steps? \u003cPRED\u003eA: 1- move forward 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the chips into bin. Q: immediate next step? \u003cPRED\u003eA: move forward\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the chips into bin. last 20 steps: 1- pick the white bag from the table 2- place the packet in the tray 3- pick the popcorn bag from the another table 4- place that popcorn bag in the paper tray 5- pick the green bag from another table 6- Place the green packet in the box 7- pick the back bag from another table 8- Place the blue packet in the box 9- pick the green bag from another table Q: immediate next step? \u003cPRED\u003eA: move forward\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove forward Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move forward\n\u003c/PRED\u003e","video":"4353603273998598680.mp4"}
+{"uid":"12808075751596547883","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the blue packet in the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the blue packet in the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the chips into bin. Q: immediate next step? \u003cPRED\u003eA: Place the blue packet in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the blue packet in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the chips into bin. last 20 steps: 1- pick the white bag from the table 2- place the packet in the tray 3- pick the popcorn bag from the another table 4- place that popcorn bag in the paper tray 5- pick the green bag from another table 6- Place the green packet in the box 7- pick the back bag from another table Q: immediate next step? \u003cPRED\u003eA: Place the blue packet in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the blue packet in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the chips into bin. last 20 steps: 1- pick the white bag from the table 2- place the packet in the tray 3- pick the popcorn bag from the another table 4- place that popcorn bag in the paper tray 5- pick the green bag from another table 6- Place the green packet in the box 7- pick the back bag from another table Q: next 5 steps? \u003cPRED\u003eA: 1- Place the blue packet in the box 2- pick the green bag from another table 3- Place the green packet in the box 4- done\n\u003c/PRED\u003e","video":"11569322124015789971.mp4"}
+{"uid":"4596136414228770193","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nEnter the room Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8782085062649607625.mp4"}
+{"uid":"12750087975747833496","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the green bag from another table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the green bag from another table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the green bag from another table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the chips into bin. last 20 steps: 1- pick the white bag from the table 2- place the packet in the tray 3- pick the popcorn bag from the another table 4- place that popcorn bag in the paper tray 5- pick the green bag from another table 6- Place the green packet in the box 7- pick the back bag from another table 8- Place the blue packet in the box Q: next 5 steps? \u003cPRED\u003eA: 1- pick the green bag from another table 2- Place the green packet in the box 3- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the green bag from another table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the chips into bin. Q: immediate next step? \u003cPRED\u003eA: pick the green bag from another table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the chips into bin. last 20 steps: 1- pick the white bag from the table 2- place the packet in the tray 3- pick the popcorn bag from the another table 4- place that popcorn bag in the paper tray 5- pick the green bag from another table 6- Place the green packet in the box 7- pick the back bag from another table 8- Place the blue packet in the box Q: immediate next step? \u003cPRED\u003eA: pick the green bag from another table\n\u003c/PRED\u003e","video":"740075672153925011.mp4"}
+{"uid":"10137667197568881124","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the green packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the green packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the chips into bin. last 20 steps: 1- pick the white bag from the table 2- place the packet in the tray 3- pick the popcorn bag from the another table 4- place that popcorn bag in the paper tray Q: immediate next step? \u003cPRED\u003eA: Pick up the green packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the green packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the green packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the chips into bin. last 20 steps: 1- pick the white bag from the table 2- place the packet in the tray 3- pick the popcorn bag from the another table 4- place that popcorn bag in the paper tray Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the green packet on the table 2- Place the green packet in the box 3- pick the back bag from another table 4- Place the blue packet in the box 5- pick the green bag from another table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the chips into bin. Q: immediate next step? \u003cPRED\u003eA: Pick up the green packet on the table\n\u003c/PRED\u003e","video":"9962873296313561240.mp4"}
+{"uid":"13222640029413515456","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the knife in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17887008090636803344.mp4"}
+{"uid":"8082022804737977465","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the numi box in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15622906896569648251.mp4"}
+{"uid":"6581443497448108022","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove away Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8979582203380431678.mp4"}
+{"uid":"15693142471875925441","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place that green bag in the paper tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace that green bag in the paper tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17116270850573015131.mp4"}
+{"uid":"4363105923697223418","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the chips into bin. Q: immediate next step? \u003cPRED\u003eA: place that green bag in the paper tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace that green bag in the paper tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the chips into bin. last 20 steps: 1- pick the white bag from the table 2- place the packet in the tray 3- pick the popcorn bag from the another table 4- place that popcorn bag in the paper tray 5- pick the green bag from another table Q: immediate next step? \u003cPRED\u003eA: place that green bag in the paper tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place that green bag in the paper tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace that green bag in the paper tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place that green bag in the paper tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the chips into bin. last 20 steps: 1- pick the white bag from the table 2- place the packet in the tray 3- pick the popcorn bag from the another table 4- place that popcorn bag in the paper tray 5- pick the green bag from another table Q: next 5 steps? \u003cPRED\u003eA: 1- place that green bag in the paper tray 2- pick the back bag from another table 3- Place the blue packet in the box 4- pick the green bag from another table 5- Place the green packet in the box\n\u003c/PRED\u003e","video":"12506101976742495540.mp4"}
+{"uid":"3041539640992994377","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace that green bag in the paper tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place that green bag in the paper tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place that green bag in the paper tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the chips into bin. last 20 steps: 1- pick the white bag from the table 2- place the packet in the tray 3- pick the popcorn bag from the another table 4- place that popcorn bag in the paper tray 5- pick the green bag from another table 6- Place the green packet in the box 7- pick the back bag from another table 8- Place the blue packet in the box 9- pick the green bag from another table Q: next 5 steps? \u003cPRED\u003eA: 1- place that green bag in the paper tray 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the chips into bin. Q: immediate next step? \u003cPRED\u003eA: place that green bag in the paper tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the chips into bin. last 20 steps: 1- pick the white bag from the table 2- place the packet in the tray 3- pick the popcorn bag from the another table 4- place that popcorn bag in the paper tray 5- pick the green bag from another table 6- Place the green packet in the box 7- pick the back bag from another table 8- Place the blue packet in the box 9- pick the green bag from another table Q: immediate next step? \u003cPRED\u003eA: place that green bag in the paper tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace that green bag in the paper tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7888023301999989633.mp4"}
+{"uid":"11803687488605464042","text":"\u003ctask:success:discrete:True\u003e\nPlace the green packet in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the green packet in the box\n\u003c/PRED\u003e","video":"17944324004703455469.mp4"}
+{"uid":"1304525172015222683","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the plastic spoon in the paper glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13939669469563213787.mp4"}
+{"uid":"1642739943724586812","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the red candy in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3013193547208358688.mp4"}
+{"uid":"326590106164406939","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the white packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14788122542386260593.mp4"}
+{"uid":"8714526783755079319","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place that black bag in the paper tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace that black bag in the paper tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3250735072585208550.mp4"}
+{"uid":"4243411509241976367","text":"\u003ctask:success:discrete:True\u003e\nplace the packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the packet in the tray\n\u003c/PRED\u003e","video":"14583302133309940814.mp4"}
+{"uid":"16171703549502656880","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the white packet in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the white packet in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5035174463787177463.mp4"}
+{"uid":"8694791506470195059","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the green packet Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the chips into bin. last 20 steps: 1- pick the white bag from the table 2- place the packet in the tray 3- pick the popcorn bag from the another table 4- place that popcorn bag in the paper tray 5- pick the green bag from another table 6- Place the green packet in the box 7- pick the back bag from another table 8- Place the blue packet in the box Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the green packet 2- Place the green packet in the box 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the green packet\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the chips into bin. Q: immediate next step? \u003cPRED\u003eA: pick up the green packet\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the chips into bin. last 20 steps: 1- pick the white bag from the table 2- place the packet in the tray 3- pick the popcorn bag from the another table 4- place that popcorn bag in the paper tray 5- pick the green bag from another table 6- Place the green packet in the box 7- pick the back bag from another table 8- Place the blue packet in the box Q: immediate next step? \u003cPRED\u003eA: pick up the green packet\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the green packet Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the green packet\n\u003c/PRED\u003e","video":"6579449924389655591.mp4"}
+{"uid":"9100665811462474493","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the chocolate in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5462177775274425214.mp4"}
+{"uid":"15335767593928495565","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the chips into bin. last 20 steps: 1- pick the white bag from the table 2- place the packet in the tray 3- pick the popcorn bag from the another table 4- place that popcorn bag in the paper tray 5- pick the green bag from another table Q: immediate next step? \u003cPRED\u003eA: Place the green packet in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the green packet in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the chips into bin. Q: immediate next step? \u003cPRED\u003eA: Place the green packet in the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the green packet in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the green packet in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the green packet in the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the chips into bin. last 20 steps: 1- pick the white bag from the table 2- place the packet in the tray 3- pick the popcorn bag from the another table 4- place that popcorn bag in the paper tray 5- pick the green bag from another table Q: next 5 steps? \u003cPRED\u003eA: 1- Place the green packet in the box 2- pick the back bag from another table 3- Place the blue packet in the box 4- pick the green bag from another table 5- Place the green packet in the box\n\u003c/PRED\u003e","video":"5267652200810160972.mp4"}
+{"uid":"3447378755434179685","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nunstack the cups Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12817562108118402241.mp4"}
+{"uid":"10555790672005734692","text":"\u003ctask:success:discrete:False\u003e\nplace the green packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the green packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the chips into bin. last 20 steps: 1- pick the white bag from the table 2- place the packet in the tray 3- pick the popcorn bag from the another table 4- place that popcorn bag in the paper tray 5- pick the green bag from another table 6- Place the green packet in the box 7- pick the back bag from another table 8- Place the blue packet in the box 9- pick the green bag from another table Q: immediate next step? \u003cPRED\u003eA: place the green packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the green packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the chips into bin. Q: immediate next step? \u003cPRED\u003eA: place the green packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the green packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the chips into bin. last 20 steps: 1- pick the white bag from the table 2- place the packet in the tray 3- pick the popcorn bag from the another table 4- place that popcorn bag in the paper tray 5- pick the green bag from another table 6- Place the green packet in the box 7- pick the back bag from another table 8- Place the blue packet in the box 9- pick the green bag from another table Q: next 5 steps? \u003cPRED\u003eA: 1- place the green packet in the tray 2- done\n\u003c/PRED\u003e","video":"12047066358680668215.mp4"}
+{"uid":"2975499710617404813","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place that green bag in the paper tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace that green bag in the paper tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the chips into bin. last 20 steps: 1- pick the white bag from the table 2- place the packet in the tray 3- pick the popcorn bag from the another table 4- place that popcorn bag in the paper tray 5- pick the green bag from another table 6- Place the green packet in the box 7- pick the back bag from another table 8- Place the blue packet in the box 9- pick the green bag from another table 10- place that green bag in the paper tray Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the chips into bin. last 20 steps: 1- pick the white bag from the table 2- place the packet in the tray 3- pick the popcorn bag from the another table 4- place that popcorn bag in the paper tray 5- pick the green bag from another table 6- Place the green packet in the box 7- pick the back bag from another table 8- Place the blue packet in the box 9- pick the green bag from another table 10- place that green bag in the paper tray Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the chips into bin. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"18097678058746511359.mp4"}
+{"uid":"17392265069403058601","text":"\u003ctask:success:discrete:True\u003e\nplace that popcorn bag in the paper tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place that popcorn bag in the paper tray\n\u003c/PRED\u003e","video":"8473122438513128609.mp4"}
+{"uid":"4302064798793089032","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace popcorn bag on counter from tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7689624413275135099.mp4"}
+{"uid":"729918927442700668","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up the paper bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5718969228114513690.mp4"}
+{"uid":"10201543917947576364","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the marker in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14707867526423493428.mp4"}
+{"uid":"10211101410173819292","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the red packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16610702002049183330.mp4"}
+{"uid":"17986454362721166767","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut pink sugar packet in the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3052011634714875714.mp4"}
+{"uid":"15125377191499257560","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the green packet in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the green packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17515380310142056144.mp4"}
+{"uid":"16711005892324775797","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the blue packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the blue packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the chips into bin. last 20 steps: 1- pick the white bag from the table 2- place the packet in the tray 3- pick the popcorn bag from the another table 4- place that popcorn bag in the paper tray 5- pick the green bag from another table 6- Place the green packet in the box Q: immediate next step? \u003cPRED\u003eA: Pick up the blue packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the chips into bin. Q: immediate next step? \u003cPRED\u003eA: Pick up the blue packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the blue packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the chips into bin. last 20 steps: 1- pick the white bag from the table 2- place the packet in the tray 3- pick the popcorn bag from the another table 4- place that popcorn bag in the paper tray 5- pick the green bag from another table 6- Place the green packet in the box Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the blue packet on the table 2- Place the blue packet in the box 3- pick the green bag from another table 4- Place the green packet in the box 5- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the blue packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9525644432778262855.mp4"}
+{"uid":"13037320766833412897","text":"\u003ctask:success:discrete:True\u003e\npick the green bag from another table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick the green bag from another table\n\u003c/PRED\u003e","video":"15115137410285081224.mp4"}
+{"uid":"4387729741486744114","text":"\u003ctask:success:discrete:True\u003e\npick up the blue packet Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up the blue packet\n\u003c/PRED\u003e","video":"15941106851633943399.mp4"}
+{"uid":"6269259218110974790","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace that popcorn bag in the paper tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the chips into bin. last 20 steps: 1- pick the white bag from the table 2- place the packet in the tray Q: immediate next step? \u003cPRED\u003eA: place that popcorn bag in the paper tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the chips into bin. Q: immediate next step? \u003cPRED\u003eA: place that popcorn bag in the paper tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place that popcorn bag in the paper tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the chips into bin. last 20 steps: 1- pick the white bag from the table 2- place the packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place that popcorn bag in the paper tray 2- pick the green bag from another table 3- Place the green packet in the box 4- pick the back bag from another table 5- Place the blue packet in the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place that popcorn bag in the paper tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace that popcorn bag in the paper tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"282072272630342432.mp4"}
+{"uid":"4251021659306773860","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the apple in first drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9402504693899169734.mp4"}
+{"uid":"9966025806145116534","text":"\u003ctask:success:discrete:True\u003e\nplace the green packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the chips into bin. last 20 steps: 1- pick the white bag from the table 2- place the packet in the tray 3- pick the popcorn bag from the another table 4- place that popcorn bag in the paper tray 5- pick the green bag from another table 6- Place the green packet in the box 7- pick the back bag from another table 8- Place the blue packet in the box 9- pick the green bag from another table 10- place the green packet in the tray Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the chips into bin. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the chips into bin. last 20 steps: 1- pick the white bag from the table 2- place the packet in the tray 3- pick the popcorn bag from the another table 4- place that popcorn bag in the paper tray 5- pick the green bag from another table 6- Place the green packet in the box 7- pick the back bag from another table 8- Place the blue packet in the box 9- pick the green bag from another table 10- place the green packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the green packet in the tray\n\u003c/PRED\u003e","video":"4883103740319724107.mp4"}
+{"uid":"12409437062855967081","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the orange object in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4242001621284886680.mp4"}
+{"uid":"14943626136163913243","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the chips into bin. last 20 steps: 1- pick the white bag from the table 2- place the packet in the tray 3- pick the popcorn bag from the another table 4- place that popcorn bag in the paper tray 5- pick the green bag from another table 6- Place the green packet in the box 7- pick the back bag from another table Q: immediate next step? \u003cPRED\u003eA: place that black bag in the paper tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace that black bag in the paper tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the chips into bin. Q: immediate next step? \u003cPRED\u003eA: place that black bag in the paper tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place that black bag in the paper tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place that black bag in the paper tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace that black bag in the paper tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the chips into bin. last 20 steps: 1- pick the white bag from the table 2- place the packet in the tray 3- pick the popcorn bag from the another table 4- place that popcorn bag in the paper tray 5- pick the green bag from another table 6- Place the green packet in the box 7- pick the back bag from another table Q: next 5 steps? \u003cPRED\u003eA: 1- place that black bag in the paper tray 2- pick the green bag from another table 3- Place the green packet in the box 4- done\n\u003c/PRED\u003e","video":"3399848721316191723.mp4"}
+{"uid":"3567981986792199185","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the green packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the chips into bin. last 20 steps: 1- pick the white bag from the table 2- place the packet in the tray 3- pick the popcorn bag from the another table 4- place that popcorn bag in the paper tray 5- pick the green bag from another table 6- Place the green packet in the box 7- pick the back bag from another table 8- Place the blue packet in the box Q: immediate next step? \u003cPRED\u003eA: Pick up the green packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the chips into bin. Q: immediate next step? \u003cPRED\u003eA: Pick up the green packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the green packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the green packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the green packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the chips into bin. last 20 steps: 1- pick the white bag from the table 2- place the packet in the tray 3- pick the popcorn bag from the another table 4- place that popcorn bag in the paper tray 5- pick the green bag from another table 6- Place the green packet in the box 7- pick the back bag from another table 8- Place the blue packet in the box Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the green packet on the table 2- Place the green packet in the box 3- done\n\u003c/PRED\u003e","video":"5854991322931229562.mp4"}
+{"uid":"10863374576848040625","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the blue packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10112577340457430235.mp4"}
+{"uid":"5339837675164534325","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick the white bag from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick the white bag from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18043844836848406845.mp4"}
+{"uid":"10874915232928508545","text":"\u003ctask:success:discrete:False\u003e\nPlace the white packet in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the chips into bin. last 20 steps: 1- pick the white bag from the table Q: next 5 steps? \u003cPRED\u003eA: 1- Place the white packet in the box 2- pick the popcorn bag from the another table 3- place that popcorn bag in the paper tray 4- pick the green bag from another table 5- Place the green packet in the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the chips into bin. Q: immediate next step? \u003cPRED\u003eA: Place the white packet in the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the white packet in the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the white packet in the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the chips into bin. last 20 steps: 1- pick the white bag from the table Q: immediate next step? \u003cPRED\u003eA: Place the white packet in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the white packet in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2188864756586140369.mp4"}
+{"uid":"2642463706522359160","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the green packet in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the green packet in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the green packet in the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the chips into bin. last 20 steps: 1- pick the white bag from the table 2- place the packet in the tray 3- pick the popcorn bag from the another table 4- place that popcorn bag in the paper tray 5- pick the green bag from another table 6- Place the green packet in the box 7- pick the back bag from another table 8- Place the blue packet in the box 9- pick the green bag from another table Q: next 5 steps? \u003cPRED\u003eA: 1- Place the green packet in the box 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the chips into bin. Q: immediate next step? \u003cPRED\u003eA: Place the green packet in the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the green packet in the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the chips into bin. last 20 steps: 1- pick the white bag from the table 2- place the packet in the tray 3- pick the popcorn bag from the another table 4- place that popcorn bag in the paper tray 5- pick the green bag from another table 6- Place the green packet in the box 7- pick the back bag from another table 8- Place the blue packet in the box 9- pick the green bag from another table Q: immediate next step? \u003cPRED\u003eA: Place the green packet in the box\n\u003c/PRED\u003e","video":"17563297911389157540.mp4"}
+{"uid":"11326914644593567509","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick the blue marker in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13649659813346843996.mp4"}
+{"uid":"14698041007308116129","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the chips into bin. last 20 steps: 1- pick the white bag from the table 2- place the packet in the tray 3- pick the popcorn bag from the another table 4- place that popcorn bag in the paper tray 5- pick the green bag from another table 6- Place the green packet in the box Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the blue packet 2- Place the blue packet in the box 3- pick the green bag from another table 4- Place the green packet in the box 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the blue packet Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the blue packet\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the chips into bin. last 20 steps: 1- pick the white bag from the table 2- place the packet in the tray 3- pick the popcorn bag from the another table 4- place that popcorn bag in the paper tray 5- pick the green bag from another table 6- Place the green packet in the box Q: immediate next step? \u003cPRED\u003eA: pick up the blue packet\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the blue packet\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the blue packet Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the chips into bin. Q: immediate next step? \u003cPRED\u003eA: pick up the blue packet\n\u003c/PRED\u003e","video":"9661387137236339717.mp4"}
+{"uid":"13814625962634874712","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the chips into bin. last 20 steps: 1- pick the white bag from the table 2- place the packet in the tray 3- pick the popcorn bag from the another table 4- place that popcorn bag in the paper tray 5- pick the green bag from another table Q: immediate next step? \u003cPRED\u003eA: place the green packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the chips into bin. Q: immediate next step? \u003cPRED\u003eA: place the green packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the green packet in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the green packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the chips into bin. last 20 steps: 1- pick the white bag from the table 2- place the packet in the tray 3- pick the popcorn bag from the another table 4- place that popcorn bag in the paper tray 5- pick the green bag from another table Q: next 5 steps? \u003cPRED\u003eA: 1- place the green packet in the tray 2- pick the back bag from another table 3- Place the blue packet in the box 4- pick the green bag from another table 5- Place the green packet in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the green packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the green packet in the tray\n\u003c/PRED\u003e","video":"3343870302025440631.mp4"}
+{"uid":"4032883318741093199","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the chips into bin. last 20 steps: 1- pick the white bag from the table 2- place the packet in the tray 3- pick the popcorn bag from the another table 4- place that popcorn bag in the paper tray 5- pick the green bag from another table 6- Place the green packet in the box Q: next 5 steps? \u003cPRED\u003eA: 1- pick the back bag from another table 2- Place the blue packet in the box 3- pick the green bag from another table 4- Place the green packet in the box 5- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the back bag from another table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the back bag from another table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the back bag from another table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the back bag from another table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the chips into bin. Q: immediate next step? \u003cPRED\u003eA: pick the back bag from another table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the chips into bin. last 20 steps: 1- pick the white bag from the table 2- place the packet in the tray 3- pick the popcorn bag from the another table 4- place that popcorn bag in the paper tray 5- pick the green bag from another table 6- Place the green packet in the box Q: immediate next step? \u003cPRED\u003eA: pick the back bag from another table\n\u003c/PRED\u003e","video":"13574069287729401412.mp4"}
+{"uid":"7416996690533835610","text":"\u003ctask:success:discrete:False\u003e\nplace the packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the chips into bin. last 20 steps: 1- pick the white bag from the table 2- place the packet in the tray Q: immediate next step? \u003cPRED\u003eA: place the packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the chips into bin. last 20 steps: 1- pick the white bag from the table 2- place the packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place the packet in the tray 2- pick the green bag from another table 3- Place the green packet in the box 4- pick the back bag from another table 5- Place the blue packet in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the chips into bin. Q: immediate next step? \u003cPRED\u003eA: place the packet in the tray\n\u003c/PRED\u003e","video":"774419186013227681.mp4"}
+{"uid":"17947356100470371404","text":"\u003ctask:success:discrete:True\u003e\npick the green bag from another table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick the green bag from another table\n\u003c/PRED\u003e","video":"9784664203563303967.mp4"}
+{"uid":"13828961745032338854","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the chips into bin. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: pick the white bag from the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the white bag from the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the white bag from the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the chips into bin. Q: immediate next step? \u003cPRED\u003eA: pick the white bag from the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the chips into bin. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- pick the white bag from the table 2- place the packet in the tray 3- pick the popcorn bag from the another table 4- place that popcorn bag in the paper tray 5- pick the green bag from another table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the white bag from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the white bag from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7187175845539537506.mp4"}
+{"uid":"1053200462932271925","text":"\u003ctask:success:discrete:True\u003e\nPick up the green packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Pick up the green packet on the table\n\u003c/PRED\u003e","video":"7049455771977672346.mp4"}
+{"uid":"8972259870643762010","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place that white packet in the paper tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace that white packet in the paper tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3699744075995819640.mp4"}
+{"uid":"8091597176790402933","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Pick up the green packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPick up the green packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15188880194709689500.mp4"}
+{"uid":"16353565480222243575","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the green packet Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the chips into bin. Q: immediate next step? \u003cPRED\u003eA: pick up the green packet\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the chips into bin. last 20 steps: 1- pick the white bag from the table 2- place the packet in the tray 3- pick the popcorn bag from the another table 4- place that popcorn bag in the paper tray Q: immediate next step? \u003cPRED\u003eA: pick up the green packet\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the green packet Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the green packet\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the chips into bin. last 20 steps: 1- pick the white bag from the table 2- place the packet in the tray 3- pick the popcorn bag from the another table 4- place that popcorn bag in the paper tray Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the green packet 2- Place the green packet in the box 3- pick the back bag from another table 4- Place the blue packet in the box 5- pick the green bag from another table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the green packet\n\u003c/PRED\u003e","video":"10629814733578445736.mp4"}
+{"uid":"11191089331247713492","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the green packet in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the green packet in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the chips into bin. last 20 steps: 1- pick the white bag from the table 2- place the packet in the tray 3- pick the popcorn bag from the another table 4- place that popcorn bag in the paper tray 5- pick the green bag from another table 6- Place the green packet in the box 7- pick the back bag from another table 8- Place the blue packet in the box 9- pick the green bag from another table 10- Place the green packet in the box Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the chips into bin. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the chips into bin. last 20 steps: 1- pick the white bag from the table 2- place the packet in the tray 3- pick the popcorn bag from the another table 4- place that popcorn bag in the paper tray 5- pick the green bag from another table 6- Place the green packet in the box 7- pick the back bag from another table 8- Place the blue packet in the box 9- pick the green bag from another table 10- Place the green packet in the box Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"18264566193676622254.mp4"}
+{"uid":"1887327501090827066","text":"\u003ctask:success:discrete:True\u003e\npick the back bag from another table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick the back bag from another table\n\u003c/PRED\u003e","video":"16134612632410515617.mp4"}
+{"uid":"15284421159430476389","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace it on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1524866089272411493.mp4"}
+{"uid":"6525480744274411313","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick the pen from table and place it in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17999615563507437186.mp4"}
+{"uid":"3525432791761295430","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the packet into the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4577123551432586346.mp4"}
+{"uid":"16559996622384043232","text":"\u003ctask:success:discrete:True\u003e\nPlace the blue packet in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the blue packet in the box\n\u003c/PRED\u003e","video":"11238408838304987508.mp4"}
+{"uid":"1749625988068514146","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9913820339676137738.mp4"}
+{"uid":"17503602684089722041","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the chips into bin. last 20 steps: 1- pick the white bag from the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the packet in the tray 2- pick the popcorn bag from the another table 3- place that popcorn bag in the paper tray 4- pick the green bag from another table 5- Place the green packet in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the chips into bin. Q: immediate next step? \u003cPRED\u003eA: place the packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the chips into bin. last 20 steps: 1- pick the white bag from the table Q: immediate next step? \u003cPRED\u003eA: place the packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the packet in the tray\n\u003c/PRED\u003e","video":"5066586598843306469.mp4"}
+{"uid":"8750654953831947803","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the blue packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the chips into bin. last 20 steps: 1- pick the white bag from the table 2- place the packet in the tray 3- pick the popcorn bag from the another table 4- place that popcorn bag in the paper tray 5- pick the green bag from another table 6- Place the green packet in the box 7- pick the back bag from another table Q: next 5 steps? \u003cPRED\u003eA: 1- place the blue packet in the tray 2- pick the green bag from another table 3- Place the green packet in the box 4- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the blue packet in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the blue packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the chips into bin. last 20 steps: 1- pick the white bag from the table 2- place the packet in the tray 3- pick the popcorn bag from the another table 4- place that popcorn bag in the paper tray 5- pick the green bag from another table 6- Place the green packet in the box 7- pick the back bag from another table Q: immediate next step? \u003cPRED\u003eA: place the blue packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the blue packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the chips into bin. Q: immediate next step? \u003cPRED\u003eA: place the blue packet in the tray\n\u003c/PRED\u003e","video":"4019792220691051571.mp4"}
+{"uid":"1486128831131940632","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace yellow packet in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17028118010381965402.mp4"}
+{"uid":"8624511159035355580","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the yellow duck toy into the white wool basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5144070444216349014.mp4"}
+{"uid":"86452517128415333","text":"\u003ctask:success:discrete:True\u003e\nPick up the blue packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Pick up the blue packet on the table\n\u003c/PRED\u003e","video":"15710320466589819264.mp4"}
+{"uid":"14236098577011842112","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nclose the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nclose the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place all the chips on the counter and close the top drawer Q: immediate next step? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place all the chips on the counter and close the top drawer. last 20 steps: 1- put packet on the table 2- Put the brown chip bag on the table 3- put packet on the table 4- put packet on the table 5- put packet on the table 6- put packet on the table 7- put packet on the table 8- put packets on the table Q: immediate next step? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place all the chips on the counter and close the top drawer. last 20 steps: 1- put packet on the table 2- Put the brown chip bag on the table 3- put packet on the table 4- put packet on the table 5- put packet on the table 6- put packet on the table 7- put packet on the table 8- put packets on the table Q: next 5 steps? \u003cPRED\u003eA: 1- close the drawer 2- done\n\u003c/PRED\u003e","video":"11186377238152180019.mp4"}
+{"uid":"8498351519079082454","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the brown chip bag on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the brown chip bag on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the brown chip bag on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the brown chip bag on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place all the chips on the counter and close the top drawer Q: immediate next step? \u003cPRED\u003eA: Put the brown chip bag on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place all the chips on the counter and close the top drawer. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Put the brown chip bag on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place all the chips on the counter and close the top drawer. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Put the brown chip bag on the table 2- Put the brown chip bag on the table 3- put packet on the table 4- put packet on the table 5- put packet on the table\n\u003c/PRED\u003e","video":"8233970085552865332.mp4"}
+{"uid":"3363583370025786837","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nopen top drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7670270815875587606.mp4"}
+{"uid":"2459339559661781872","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the apple into the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"272290106946395180.mp4"}
+{"uid":"6864517415549266024","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the chocolate in the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14760957787100425389.mp4"}
+{"uid":"2949660414810733427","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the green jalapeno  chip bag on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the green jalapeno  chip bag on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the green jalapeno  chip bag on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the green jalapeno  chip bag on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place all the chips on the counter and close the top drawer Q: immediate next step? \u003cPRED\u003eA: Put the green jalapeno  chip bag on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place all the chips on the counter and close the top drawer. last 20 steps: 1- put packet on the table 2- Put the brown chip bag on the table 3- put packet on the table 4- put packet on the table 5- put packet on the table Q: immediate next step? \u003cPRED\u003eA: Put the green jalapeno  chip bag on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place all the chips on the counter and close the top drawer. last 20 steps: 1- put packet on the table 2- Put the brown chip bag on the table 3- put packet on the table 4- put packet on the table 5- put packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the green jalapeno  chip bag on the table 2- put packet on the table 3- put packets on the table 4- close the drawer 5- done\n\u003c/PRED\u003e","video":"16574521399889599808.mp4"}
+{"uid":"10402455055805737297","text":"\u003ctask:success:discrete:True\u003e\nplace the packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e","video":"154551596158587249.mp4"}
+{"uid":"15692824417436399653","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place all the chips on the counter and close the top drawer Q: immediate next step? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place all the chips on the counter and close the top drawer. last 20 steps: 1- put packet on the table 2- Put the brown chip bag on the table Q: immediate next step? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place all the chips on the counter and close the top drawer. last 20 steps: 1- put packet on the table 2- Put the brown chip bag on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put packet on the table 2- put packet on the table 3- put packet on the table 4- put packet on the table 5- put packet on the table\n\u003c/PRED\u003e","video":"9897397810715870598.mp4"}
+{"uid":"15552991447207212015","text":"\u003ctask:success:discrete:True\u003e\nPut the blue chip bag on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the blue chip bag on the table\n\u003c/PRED\u003e","video":"3445626756651302824.mp4"}
+{"uid":"12918396889938633373","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick the purple bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7812085893020249749.mp4"}
+{"uid":"8329840578397931306","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nkeep the tray straight Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2316601761879217208.mp4"}
+{"uid":"13394284489481377997","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the blue packet in a bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7457093793252541750.mp4"}
+{"uid":"11369959229925974882","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place all the chips on the counter and close the top drawer Q: immediate next step? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place all the chips on the counter and close the top drawer. last 20 steps: 1- put packet on the table 2- Put the brown chip bag on the table Q: immediate next step? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place all the chips on the counter and close the top drawer. last 20 steps: 1- put packet on the table 2- Put the brown chip bag on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the packet on the table 2- put packet on the table 3- put packet on the table 4- put packet on the table 5- put packet on the table\n\u003c/PRED\u003e","video":"18229533272530659062.mp4"}
+{"uid":"15371260281323842370","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the green jalapeno  chip bag on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the green jalapeno  chip bag on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the green jalapeno  chip bag on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the green jalapeno  chip bag on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place all the chips on the counter and close the top drawer Q: immediate next step? \u003cPRED\u003eA: Put the green jalapeno  chip bag on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place all the chips on the counter and close the top drawer. last 20 steps: 1- put packet on the table 2- Put the brown chip bag on the table 3- put packet on the table Q: immediate next step? \u003cPRED\u003eA: Put the green jalapeno  chip bag on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place all the chips on the counter and close the top drawer. last 20 steps: 1- put packet on the table 2- Put the brown chip bag on the table 3- put packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the green jalapeno  chip bag on the table 2- put packet on the table 3- put packet on the table 4- put packet on the table 5- put packets on the table\n\u003c/PRED\u003e","video":"6722427928427032456.mp4"}
+{"uid":"15285393993562994495","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the white packet inside the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8182343847584529125.mp4"}
+{"uid":"17940054704252923140","text":"\u003ctask:success:discrete:True\u003e\nPut the chip bags on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the chip bags on the table\n\u003c/PRED\u003e","video":"13713798944047059172.mp4"}
+{"uid":"9909313464177588122","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the yellow candy in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16572882957795551227.mp4"}
+{"uid":"1662163048623498213","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the green rice  chip bag on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the green rice  chip bag on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the green rice  chip bag on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the green rice  chip bag on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place all the chips on the counter and close the top drawer Q: immediate next step? \u003cPRED\u003eA: Put the green rice  chip bag on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place all the chips on the counter and close the top drawer. last 20 steps: 1- put packet on the table 2- Put the brown chip bag on the table 3- put packet on the table 4- put packet on the table 5- put packet on the table 6- put packet on the table Q: immediate next step? \u003cPRED\u003eA: Put the green rice  chip bag on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place all the chips on the counter and close the top drawer. last 20 steps: 1- put packet on the table 2- Put the brown chip bag on the table 3- put packet on the table 4- put packet on the table 5- put packet on the table 6- put packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the green rice  chip bag on the table 2- put packets on the table 3- close the drawer 4- done\n\u003c/PRED\u003e","video":"17925349928624125217.mp4"}
+{"uid":"11728802303248371017","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput packets on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packets on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packets on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput packets on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place all the chips on the counter and close the top drawer Q: immediate next step? \u003cPRED\u003eA: put packets on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place all the chips on the counter and close the top drawer. last 20 steps: 1- put packet on the table 2- Put the brown chip bag on the table 3- put packet on the table 4- put packet on the table 5- put packet on the table 6- put packet on the table 7- put packet on the table Q: immediate next step? \u003cPRED\u003eA: put packets on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place all the chips on the counter and close the top drawer. last 20 steps: 1- put packet on the table 2- Put the brown chip bag on the table 3- put packet on the table 4- put packet on the table 5- put packet on the table 6- put packet on the table 7- put packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put packets on the table 2- close the drawer 3- done\n\u003c/PRED\u003e","video":"16481954543024484953.mp4"}
+{"uid":"9884682518105667702","text":"\u003ctask:success:discrete:True\u003e\nplace the packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e","video":"16680005799295234993.mp4"}
+{"uid":"16005914563733681726","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the red pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9942241099082636093.mp4"}
+{"uid":"9138511165615731147","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place all the chips on the counter and close the top drawer Q: immediate next step? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place all the chips on the counter and close the top drawer. last 20 steps: 1- put packet on the table Q: immediate next step? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place all the chips on the counter and close the top drawer. last 20 steps: 1- put packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put packet on the table 2- put packet on the table 3- put packet on the table 4- put packet on the table 5- put packet on the table\n\u003c/PRED\u003e","video":"12653018987898105955.mp4"}
+{"uid":"2777296375002790833","text":"\u003ctask:success:discrete:True\u003e\nPut the green rice  chip bag on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the green rice  chip bag on the table\n\u003c/PRED\u003e","video":"6003663895051147039.mp4"}
+{"uid":"8058395241479111529","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the spoon in spoon holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3803019803795729155.mp4"}
+{"uid":"70267237073122863","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the green rice  chip bag on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the green rice  chip bag on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the green rice  chip bag on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the green rice  chip bag on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place all the chips on the counter and close the top drawer Q: immediate next step? \u003cPRED\u003eA: Put the green rice  chip bag on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place all the chips on the counter and close the top drawer. last 20 steps: 1- put packet on the table 2- Put the brown chip bag on the table 3- put packet on the table 4- put packet on the table Q: immediate next step? \u003cPRED\u003eA: Put the green rice  chip bag on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place all the chips on the counter and close the top drawer. last 20 steps: 1- put packet on the table 2- Put the brown chip bag on the table 3- put packet on the table 4- put packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the green rice  chip bag on the table 2- put packet on the table 3- put packet on the table 4- put packets on the table 5- close the drawer\n\u003c/PRED\u003e","video":"16756648702995022145.mp4"}
+{"uid":"14064967147536761320","text":"\u003ctask:success:discrete:True\u003e\nput packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e","video":"14108598785260879668.mp4"}
+{"uid":"7418878111213732750","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nClose the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Close the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Close the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nClose the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place all the chips on the counter and close the top drawer Q: immediate next step? \u003cPRED\u003eA: Close the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place all the chips on the counter and close the top drawer. last 20 steps: 1- put packet on the table 2- Put the brown chip bag on the table 3- put packet on the table 4- put packet on the table 5- put packet on the table 6- put packet on the table 7- put packet on the table 8- put packets on the table Q: immediate next step? \u003cPRED\u003eA: Close the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place all the chips on the counter and close the top drawer. last 20 steps: 1- put packet on the table 2- Put the brown chip bag on the table 3- put packet on the table 4- put packet on the table 5- put packet on the table 6- put packet on the table 7- put packet on the table 8- put packets on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Close the drawer 2- done\n\u003c/PRED\u003e","video":"8277352491839923970.mp4"}
+{"uid":"2448328132343828670","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place all the chips on the counter and close the top drawer Q: immediate next step? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place all the chips on the counter and close the top drawer. last 20 steps: 1- put packet on the table 2- Put the brown chip bag on the table 3- put packet on the table 4- put packet on the table Q: immediate next step? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place all the chips on the counter and close the top drawer. last 20 steps: 1- put packet on the table 2- Put the brown chip bag on the table 3- put packet on the table 4- put packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put packet on the table 2- put packet on the table 3- put packet on the table 4- put packets on the table 5- close the drawer\n\u003c/PRED\u003e","video":"16139499517692597385.mp4"}
+{"uid":"11969414227364593229","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput candies in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1281191439628203009.mp4"}
+{"uid":"8993382310347597556","text":"\u003ctask:success:discrete:True\u003e\nput packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e","video":"12050633721958884631.mp4"}
+{"uid":"14120272515019098573","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack the book Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16492315752754746371.mp4"}
+{"uid":"3080661270794564281","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the spoon on the tissues Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11484130186124848518.mp4"}
+{"uid":"17510723946387528407","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5706140663297332168.mp4"}
+{"uid":"1596716584630460602","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place all the chips on the counter and close the top drawer Q: immediate next step? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place all the chips on the counter and close the top drawer. last 20 steps: 1- put packet on the table 2- Put the brown chip bag on the table 3- put packet on the table 4- put packet on the table 5- put packet on the table Q: immediate next step? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place all the chips on the counter and close the top drawer. last 20 steps: 1- put packet on the table 2- Put the brown chip bag on the table 3- put packet on the table 4- put packet on the table 5- put packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the packet on the table 2- put packet on the table 3- put packets on the table 4- close the drawer 5- done\n\u003c/PRED\u003e","video":"2914534964597144552.mp4"}
+{"uid":"14733662963824029581","text":"\u003ctask:success:discrete:True\u003e\nput packets on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put packets on the table\n\u003c/PRED\u003e","video":"2936626990058271122.mp4"}
+{"uid":"9260804292352798567","text":"\u003ctask:success:discrete:True\u003e\nplace the packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e","video":"891787702203020940.mp4"}
+{"uid":"6890144498034417571","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place all the chips on the counter and close the top drawer Q: immediate next step? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place all the chips on the counter and close the top drawer. last 20 steps: 1- put packet on the table 2- Put the brown chip bag on the table 3- put packet on the table 4- put packet on the table 5- put packet on the table 6- put packet on the table Q: immediate next step? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place all the chips on the counter and close the top drawer. last 20 steps: 1- put packet on the table 2- Put the brown chip bag on the table 3- put packet on the table 4- put packet on the table 5- put packet on the table 6- put packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put packet on the table 2- put packets on the table 3- close the drawer 4- done\n\u003c/PRED\u003e","video":"16589730498751438568.mp4"}
+{"uid":"16225288928422714425","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the chip bags on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the chip bags on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the chip bags on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the chip bags on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place all the chips on the counter and close the top drawer Q: immediate next step? \u003cPRED\u003eA: Put the chip bags on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place all the chips on the counter and close the top drawer. last 20 steps: 1- put packet on the table 2- Put the brown chip bag on the table 3- put packet on the table 4- put packet on the table 5- put packet on the table 6- put packet on the table 7- put packet on the table Q: immediate next step? \u003cPRED\u003eA: Put the chip bags on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place all the chips on the counter and close the top drawer. last 20 steps: 1- put packet on the table 2- Put the brown chip bag on the table 3- put packet on the table 4- put packet on the table 5- put packet on the table 6- put packet on the table 7- put packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the chip bags on the table 2- close the drawer 3- done\n\u003c/PRED\u003e","video":"2331328856746269529.mp4"}
+{"uid":"14550189562051149336","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the marker on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5028585662978427291.mp4"}
+{"uid":"17682491084628129189","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up the papers from the printing machine Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12480732827218547594.mp4"}
+{"uid":"12420953503970223557","text":"\u003ctask:success:discrete:True\u003e\nPut the green rice  chip bag on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the green rice  chip bag on the table\n\u003c/PRED\u003e","video":"17827352108901057242.mp4"}
+{"uid":"17713974009867590229","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut paper bag on upper shelf Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11644818682758064353.mp4"}
+{"uid":"17644510545590197689","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place all the chips on the counter and close the top drawer Q: immediate next step? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place all the chips on the counter and close the top drawer. last 20 steps: 1- put packet on the table Q: immediate next step? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place all the chips on the counter and close the top drawer. last 20 steps: 1- put packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the packet on the table 2- put packet on the table 3- put packet on the table 4- put packet on the table 5- put packet on the table\n\u003c/PRED\u003e","video":"3285869947737394815.mp4"}
+{"uid":"274698174306741230","text":"\u003ctask:success:discrete:True\u003e\nclose the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place all the chips on the counter and close the top drawer Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place all the chips on the counter and close the top drawer. last 20 steps: 1- put packet on the table 2- Put the brown chip bag on the table 3- put packet on the table 4- put packet on the table 5- put packet on the table 6- put packet on the table 7- put packet on the table 8- put packets on the table 9- close the drawer Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place all the chips on the counter and close the top drawer. last 20 steps: 1- put packet on the table 2- Put the brown chip bag on the table 3- put packet on the table 4- put packet on the table 5- put packet on the table 6- put packet on the table 7- put packet on the table 8- put packets on the table 9- close the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"15306532334512723953.mp4"}
+{"uid":"14999766713855520094","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place all the chips on the counter and close the top drawer Q: immediate next step? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place all the chips on the counter and close the top drawer. last 20 steps: 1- put packet on the table 2- Put the brown chip bag on the table 3- put packet on the table Q: immediate next step? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place all the chips on the counter and close the top drawer. last 20 steps: 1- put packet on the table 2- Put the brown chip bag on the table 3- put packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the packet on the table 2- put packet on the table 3- put packet on the table 4- put packet on the table 5- put packets on the table\n\u003c/PRED\u003e","video":"13508885464983634871.mp4"}
+{"uid":"1139450062774186714","text":"\u003ctask:success:discrete:True\u003e\nput packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e","video":"6057858628936247702.mp4"}
+{"uid":"11760997727017189858","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace packet in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6130410680895847414.mp4"}
+{"uid":"1685357359837816249","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place all the chips on the counter and close the top drawer Q: immediate next step? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place all the chips on the counter and close the top drawer. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place all the chips on the counter and close the top drawer. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put packet on the table 2- Put the brown chip bag on the table 3- put packet on the table 4- put packet on the table 5- put packet on the table\n\u003c/PRED\u003e","video":"12417594650175057229.mp4"}
+{"uid":"11364106916032899471","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove the holder to the center Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1248634151831138487.mp4"}
+{"uid":"3148268801750470437","text":"\u003ctask:success:discrete:True\u003e\nput packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e","video":"17356551862007298599.mp4"}
+{"uid":"12880596429581625848","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the packets on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the packets on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the packets on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the packets on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place all the chips on the counter and close the top drawer Q: immediate next step? \u003cPRED\u003eA: place the packets on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place all the chips on the counter and close the top drawer. last 20 steps: 1- put packet on the table 2- Put the brown chip bag on the table 3- put packet on the table 4- put packet on the table 5- put packet on the table 6- put packet on the table 7- put packet on the table Q: immediate next step? \u003cPRED\u003eA: place the packets on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place all the chips on the counter and close the top drawer. last 20 steps: 1- put packet on the table 2- Put the brown chip bag on the table 3- put packet on the table 4- put packet on the table 5- put packet on the table 6- put packet on the table 7- put packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the packets on the table 2- close the drawer 3- done\n\u003c/PRED\u003e","video":"9411631088480183619.mp4"}
+{"uid":"16195475661325738365","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nAdjust the chair Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3005378337250278323.mp4"}
+{"uid":"6316955931075399280","text":"\u003ctask:success:discrete:True\u003e\nput packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e","video":"531913838987192337.mp4"}
+{"uid":"9060594668896179631","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nclose the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nclose the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place all the chips on the counter and close the top drawer Q: immediate next step? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place all the chips on the counter and close the top drawer. last 20 steps: 1- put packet on the table 2- Put the brown chip bag on the table 3- put packet on the table 4- put packet on the table 5- put packet on the table 6- put packet on the table 7- put packet on the table 8- put packets on the table Q: immediate next step? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place all the chips on the counter and close the top drawer. last 20 steps: 1- put packet on the table 2- Put the brown chip bag on the table 3- put packet on the table 4- put packet on the table 5- put packet on the table 6- put packet on the table 7- put packet on the table 8- put packets on the table Q: next 5 steps? \u003cPRED\u003eA: 1- close the drawer 2- done\n\u003c/PRED\u003e","video":"17624887483020764154.mp4"}
+{"uid":"15907298529790241429","text":"\u003ctask:success:discrete:True\u003e\nPut the green jalapeno  chip bag on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the green jalapeno  chip bag on the table\n\u003c/PRED\u003e","video":"10562440312000712896.mp4"}
+{"uid":"8823353659767745611","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up the wipes Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4442900528322735631.mp4"}
+{"uid":"11797863582342087831","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the brown chip bag on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the brown chip bag on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the brown chip bag on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the brown chip bag on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place all the chips on the counter and close the top drawer Q: immediate next step? \u003cPRED\u003eA: Put the brown chip bag on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place all the chips on the counter and close the top drawer. last 20 steps: 1- put packet on the table Q: immediate next step? \u003cPRED\u003eA: Put the brown chip bag on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place all the chips on the counter and close the top drawer. last 20 steps: 1- put packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the brown chip bag on the table 2- put packet on the table 3- put packet on the table 4- put packet on the table 5- put packet on the table\n\u003c/PRED\u003e","video":"2492743311405568289.mp4"}
+{"uid":"5038027731990282464","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place all the chips on the counter and close the top drawer Q: immediate next step? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place all the chips on the counter and close the top drawer. last 20 steps: 1- put packet on the table 2- Put the brown chip bag on the table 3- put packet on the table 4- put packet on the table 5- put packet on the table 6- put packet on the table Q: immediate next step? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place all the chips on the counter and close the top drawer. last 20 steps: 1- put packet on the table 2- Put the brown chip bag on the table 3- put packet on the table 4- put packet on the table 5- put packet on the table 6- put packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the packet on the table 2- put packets on the table 3- close the drawer 4- done\n\u003c/PRED\u003e","video":"4395430368497098154.mp4"}
+{"uid":"9481583939936071803","text":"\u003ctask:success:discrete:True\u003e\nPut the brown chip bag on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the brown chip bag on the table\n\u003c/PRED\u003e","video":"240072856231354331.mp4"}
+{"uid":"17613253632492218106","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nkeep pistachio in glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4031353752842202821.mp4"}
+{"uid":"11252496952670236294","text":"\u003ctask:success:discrete:True\u003e\nplace the packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e","video":"8355230076453541248.mp4"}
+{"uid":"14956444906855417252","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput packets in box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9251397761052965038.mp4"}
+{"uid":"3661852175554062725","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place all the chips on the counter and close the top drawer Q: immediate next step? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place all the chips on the counter and close the top drawer. last 20 steps: 1- put packet on the table 2- Put the brown chip bag on the table 3- put packet on the table 4- put packet on the table 5- put packet on the table Q: immediate next step? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place all the chips on the counter and close the top drawer. last 20 steps: 1- put packet on the table 2- Put the brown chip bag on the table 3- put packet on the table 4- put packet on the table 5- put packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put packet on the table 2- put packet on the table 3- put packets on the table 4- close the drawer 5- done\n\u003c/PRED\u003e","video":"8220159485063691219.mp4"}
+{"uid":"10235165192345805805","text":"\u003ctask:success:discrete:True\u003e\nput packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e","video":"6234236814829364036.mp4"}
+{"uid":"3208673695108840283","text":"\u003ctask:success:discrete:True\u003e\nplace the packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e","video":"15826802632379235688.mp4"}
+{"uid":"11465078345033867503","text":"\u003ctask:success:discrete:True\u003e\nclose the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place all the chips on the counter and close the top drawer Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place all the chips on the counter and close the top drawer. last 20 steps: 1- put packet on the table 2- Put the brown chip bag on the table 3- put packet on the table 4- put packet on the table 5- put packet on the table 6- put packet on the table 7- put packet on the table 8- put packets on the table 9- close the drawer Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place all the chips on the counter and close the top drawer. last 20 steps: 1- put packet on the table 2- Put the brown chip bag on the table 3- put packet on the table 4- put packet on the table 5- put packet on the table 6- put packet on the table 7- put packet on the table 8- put packets on the table 9- close the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"14532170642461651673.mp4"}
+{"uid":"17436812826038993771","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nGo to the second left chair Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11756915550365701637.mp4"}
+{"uid":"8216292277415031867","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the blue chip bag on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the blue chip bag on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the blue chip bag on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the blue chip bag on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place all the chips on the counter and close the top drawer Q: immediate next step? \u003cPRED\u003eA: Put the blue chip bag on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place all the chips on the counter and close the top drawer. last 20 steps: 1- put packet on the table 2- Put the brown chip bag on the table Q: immediate next step? \u003cPRED\u003eA: Put the blue chip bag on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place all the chips on the counter and close the top drawer. last 20 steps: 1- put packet on the table 2- Put the brown chip bag on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the blue chip bag on the table 2- put packet on the table 3- put packet on the table 4- put packet on the table 5- put packet on the table\n\u003c/PRED\u003e","video":"16854909604705749629.mp4"}
+{"uid":"9764640464907997677","text":"\u003ctask:success:discrete:True\u003e\nput packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e","video":"4264909578753300155.mp4"}
+{"uid":"16828331250415510471","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place all the chips on the counter and close the top drawer Q: immediate next step? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place all the chips on the counter and close the top drawer. last 20 steps: 1- put packet on the table 2- Put the brown chip bag on the table 3- put packet on the table Q: immediate next step? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place all the chips on the counter and close the top drawer. last 20 steps: 1- put packet on the table 2- Put the brown chip bag on the table 3- put packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put packet on the table 2- put packet on the table 3- put packet on the table 4- put packet on the table 5- put packets on the table\n\u003c/PRED\u003e","video":"11658600809703145128.mp4"}
+{"uid":"16164211816474276904","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput sticky notes in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6589813706662038208.mp4"}
+{"uid":"12650813307935065322","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up the duster Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14410264009005241482.mp4"}
+{"uid":"12356823744616492186","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ngrab the right potted plant Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"106738624775659166.mp4"}
+{"uid":"6313146262191940284","text":"\u003ctask:success:discrete:True\u003e\nplace the packets on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the packets on the table\n\u003c/PRED\u003e","video":"5366067406907991211.mp4"}
+{"uid":"10059972462181418956","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place all the chips on the counter and close the top drawer Q: immediate next step? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place all the chips on the counter and close the top drawer. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place all the chips on the counter and close the top drawer. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place the packet on the table 2- Put the brown chip bag on the table 3- put packet on the table 4- put packet on the table 5- put packet on the table\n\u003c/PRED\u003e","video":"7407889059534236503.mp4"}
+{"uid":"869056129319340155","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place all the chips on the counter and close the top drawer Q: immediate next step? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place all the chips on the counter and close the top drawer. last 20 steps: 1- put packet on the table 2- Put the brown chip bag on the table 3- put packet on the table 4- put packet on the table Q: immediate next step? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place all the chips on the counter and close the top drawer. last 20 steps: 1- put packet on the table 2- Put the brown chip bag on the table 3- put packet on the table 4- put packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the packet on the table 2- put packet on the table 3- put packet on the table 4- put packets on the table 5- close the drawer\n\u003c/PRED\u003e","video":"5490539734810774106.mp4"}
+{"uid":"2614944724777958372","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you prepare me a cup of water and place it near my workplace?. last 20 steps: 1- Take the water in the glass 2- Put the glass on the counter top Q: next 5 steps? \u003cPRED\u003eA: 1- Put the pipe in the glass 2- Put the glass on the table 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the pipe in the glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you prepare me a cup of water and place it near my workplace? Q: immediate next step? \u003cPRED\u003eA: Put the pipe in the glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the pipe in the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you prepare me a cup of water and place it near my workplace?. last 20 steps: 1- Take the water in the glass 2- Put the glass on the counter top Q: immediate next step? \u003cPRED\u003eA: Put the pipe in the glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the pipe in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the pipe in the glass\n\u003c/PRED\u003e","video":"17255625477027339527.mp4"}
+{"uid":"17698993498999033763","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you prepare me a cup of water and place it near my workplace? Q: immediate next step? \u003cPRED\u003eA: Put the lid on the glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the lid on the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the lid on the glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you prepare me a cup of water and place it near my workplace?. last 20 steps: 1- Take the water in the glass 2- Put the glass on the counter top Q: next 5 steps? \u003cPRED\u003eA: 1- Put the lid on the glass 2- Put the glass on the table 3- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the lid on the glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the lid on the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you prepare me a cup of water and place it near my workplace?. last 20 steps: 1- Take the water in the glass 2- Put the glass on the counter top Q: immediate next step? \u003cPRED\u003eA: Put the lid on the glass\n\u003c/PRED\u003e","video":"17440574804303653998.mp4"}
+{"uid":"15644793801901800052","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the apple on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15272520677659071174.mp4"}
+{"uid":"16352722132883945712","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove the bowl to left side Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15025375158337075351.mp4"}
+{"uid":"10405985624219468987","text":"\u003ctask:success:discrete:True\u003e\nput orange in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put orange in the bowl\n\u003c/PRED\u003e","video":"3411578824833052116.mp4"}
+{"uid":"18421040157560191184","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Take the water in the glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Take the water in the glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you prepare me a cup of water and place it near my workplace?. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Take the water in the glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you prepare me a cup of water and place it near my workplace? Q: immediate next step? \u003cPRED\u003eA: Take the water in the glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you prepare me a cup of water and place it near my workplace?. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Take the water in the glass 2- Put the glass on the counter top 3- Put the lid on the glass 4- Put the glass on the table 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nTake the water in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nTake the water in the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2163195765040863866.mp4"}
+{"uid":"16241958691385604663","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put oranges into the bowl. last 20 steps: 1- put an orange in bowl 2- Put the orange in white bowl 3- Put the orange in white bowl 4- Put the orange in white bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put the orange in white bowl 2- put orange in the bowl 3- Put the orange in white bowl 4- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put oranges into the bowl Q: immediate next step? \u003cPRED\u003eA: Put the orange in white bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put oranges into the bowl. last 20 steps: 1- put an orange in bowl 2- Put the orange in white bowl 3- Put the orange in white bowl 4- Put the orange in white bowl Q: immediate next step? \u003cPRED\u003eA: Put the orange in white bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the orange in white bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the orange in white bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the orange in white bowl\n\u003c/PRED\u003e","video":"712827161168899959.mp4"}
+{"uid":"6803426419084539111","text":"\u003ctask:success:discrete:True\u003e\nPut the orange in white bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the orange in white bowl\n\u003c/PRED\u003e","video":"15835365705623300018.mp4"}
+{"uid":"7804476646415944654","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up the green packet Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6306253501678903015.mp4"}
+{"uid":"15609062739023636906","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put oranges into the bowl Q: immediate next step? \u003cPRED\u003eA: put orange in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put oranges into the bowl. last 20 steps: 1- put an orange in bowl 2- Put the orange in white bowl Q: immediate next step? \u003cPRED\u003eA: put orange in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put orange in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput orange in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put oranges into the bowl. last 20 steps: 1- put an orange in bowl 2- Put the orange in white bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put orange in the bowl 2- Put the orange in white bowl 3- Put the orange in white bowl 4- put orange in the bowl 5- Put the orange in white bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put orange in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput orange in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17163917454061155071.mp4"}
+{"uid":"2877891414314936256","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop pista into the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2643826498774326094.mp4"}
+{"uid":"16968048947927681668","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput an orange in bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put an orange in bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput an orange in bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put an orange in bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put oranges into the bowl. last 20 steps: 1- put an orange in bowl 2- Put the orange in white bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put an orange in bowl 2- Put the orange in white bowl 3- Put the orange in white bowl 4- put orange in the bowl 5- Put the orange in white bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put oranges into the bowl Q: immediate next step? \u003cPRED\u003eA: put an orange in bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put oranges into the bowl. last 20 steps: 1- put an orange in bowl 2- Put the orange in white bowl Q: immediate next step? \u003cPRED\u003eA: put an orange in bowl\n\u003c/PRED\u003e","video":"11221935162544981476.mp4"}
+{"uid":"16536682291741151445","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you prepare me a cup of water and place it near my workplace? Q: immediate next step? \u003cPRED\u003eA: Put the glass on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the glass on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you prepare me a cup of water and place it near my workplace?. last 20 steps: 1- Take the water in the glass 2- Put the glass on the counter top 3- Put the lid on the glass Q: next 5 steps? \u003cPRED\u003eA: 1- Put the glass on the table 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the glass on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the glass on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you prepare me a cup of water and place it near my workplace?. last 20 steps: 1- Take the water in the glass 2- Put the glass on the counter top 3- Put the lid on the glass Q: immediate next step? \u003cPRED\u003eA: Put the glass on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the glass on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6315345732547503846.mp4"}
+{"uid":"12017146026170178209","text":"\u003ctask:success:discrete:True\u003e\nPut the orange in white bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the orange in white bowl\n\u003c/PRED\u003e","video":"8007043193238651214.mp4"}
+{"uid":"4813985329600992783","text":"\u003ctask:success:discrete:True\u003e\nPut the lid on the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the lid on the glass\n\u003c/PRED\u003e","video":"18131591984194430754.mp4"}
+{"uid":"15732688654518770244","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the orange in white bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put oranges into the bowl. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Put the orange in white bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put oranges into the bowl. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Put the orange in white bowl 2- Put the orange in white bowl 3- Put the orange in white bowl 4- Put the orange in white bowl 5- Put the orange in white bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put oranges into the bowl Q: immediate next step? \u003cPRED\u003eA: Put the orange in white bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the orange in white bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the orange in white bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the orange in white bowl\n\u003c/PRED\u003e","video":"5796892155589300866.mp4"}
+{"uid":"17762123386326337865","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmake a stack of glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4270558902175735424.mp4"}
+{"uid":"9102337653869192364","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the coffee cup on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10090229514341037501.mp4"}
+{"uid":"8508699254653462421","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put an orange in bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put oranges into the bowl. last 20 steps: 1- put an orange in bowl 2- Put the orange in white bowl 3- Put the orange in white bowl 4- Put the orange in white bowl 5- Put the orange in white bowl 6- put orange in the bowl Q: immediate next step? \u003cPRED\u003eA: put an orange in bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put oranges into the bowl Q: immediate next step? \u003cPRED\u003eA: put an orange in bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put an orange in bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput an orange in bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put oranges into the bowl. last 20 steps: 1- put an orange in bowl 2- Put the orange in white bowl 3- Put the orange in white bowl 4- Put the orange in white bowl 5- Put the orange in white bowl 6- put orange in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put an orange in bowl 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput an orange in bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14058017522544310295.mp4"}
+{"uid":"6662788097984186819","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack the disposal glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4591484894765886440.mp4"}
+{"uid":"4476762988490338047","text":"\u003ctask:success:discrete:True\u003e\nPut the orange in white bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the orange in white bowl\n\u003c/PRED\u003e","video":"8256022293258962733.mp4"}
+{"uid":"12150810119754431733","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the pen in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16106161295310209725.mp4"}
+{"uid":"8410050022104079671","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put an orange in bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put oranges into the bowl. last 20 steps: 1- put an orange in bowl 2- Put the orange in white bowl 3- Put the orange in white bowl 4- Put the orange in white bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put an orange in bowl 2- put orange in the bowl 3- Put the orange in white bowl 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put oranges into the bowl. last 20 steps: 1- put an orange in bowl 2- Put the orange in white bowl 3- Put the orange in white bowl 4- Put the orange in white bowl Q: immediate next step? \u003cPRED\u003eA: put an orange in bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput an orange in bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put oranges into the bowl Q: immediate next step? \u003cPRED\u003eA: put an orange in bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put an orange in bowl\n\u003c/PRED\u003e","video":"16033759527146463633.mp4"}
+{"uid":"11988170373765169777","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput candy in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5586487354035238913.mp4"}
+{"uid":"10179241697044824012","text":"\u003ctask:success:discrete:True\u003e\nPut the pipe in the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the pipe in the glass\n\u003c/PRED\u003e","video":"8576185099879922081.mp4"}
+{"uid":"8139477123582805562","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the green plate on the purple plate Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6371109831076996552.mp4"}
+{"uid":"13489232151636504428","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput an orange in bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put an orange in bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put oranges into the bowl. last 20 steps: 1- put an orange in bowl 2- Put the orange in white bowl 3- Put the orange in white bowl Q: immediate next step? \u003cPRED\u003eA: put an orange in bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put oranges into the bowl. last 20 steps: 1- put an orange in bowl 2- Put the orange in white bowl 3- Put the orange in white bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put an orange in bowl 2- Put the orange in white bowl 3- put orange in the bowl 4- Put the orange in white bowl 5- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put oranges into the bowl Q: immediate next step? \u003cPRED\u003eA: put an orange in bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put an orange in bowl\n\u003c/PRED\u003e","video":"8936657145810897435.mp4"}
+{"uid":"5472088946329572618","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put oranges into the bowl Q: immediate next step? \u003cPRED\u003eA: Put the orange in white bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the orange in white bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the orange in white bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the orange in white bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put oranges into the bowl. last 20 steps: 1- put an orange in bowl 2- Put the orange in white bowl 3- Put the orange in white bowl 4- Put the orange in white bowl 5- Put the orange in white bowl 6- put orange in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put the orange in white bowl 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the orange in white bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put oranges into the bowl. last 20 steps: 1- put an orange in bowl 2- Put the orange in white bowl 3- Put the orange in white bowl 4- Put the orange in white bowl 5- Put the orange in white bowl 6- put orange in the bowl Q: immediate next step? \u003cPRED\u003eA: Put the orange in white bowl\n\u003c/PRED\u003e","video":"4848350367592621349.mp4"}
+{"uid":"16164272359062199140","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nopen the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9635102530488187494.mp4"}
+{"uid":"6920758775626259869","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put oranges into the bowl Q: immediate next step? \u003cPRED\u003eA: Put the orange in white bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the orange in white bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put oranges into the bowl. last 20 steps: 1- put an orange in bowl 2- Put the orange in white bowl 3- Put the orange in white bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put the orange in white bowl 2- Put the orange in white bowl 3- put orange in the bowl 4- Put the orange in white bowl 5- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put oranges into the bowl. last 20 steps: 1- put an orange in bowl 2- Put the orange in white bowl 3- Put the orange in white bowl Q: immediate next step? \u003cPRED\u003eA: Put the orange in white bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the orange in white bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the orange in white bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17147963930420574378.mp4"}
+{"uid":"665832658367118546","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12686140993298663289.mp4"}
+{"uid":"9361224610068069039","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the orange in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17425033061960209031.mp4"}
+{"uid":"10268048407270548022","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put oranges into the bowl. last 20 steps: 1- put an orange in bowl 2- Put the orange in white bowl 3- Put the orange in white bowl 4- Put the orange in white bowl 5- Put the orange in white bowl Q: immediate next step? \u003cPRED\u003eA: put orange in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put orange in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put orange in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput orange in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put oranges into the bowl Q: immediate next step? \u003cPRED\u003eA: put orange in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put oranges into the bowl. last 20 steps: 1- put an orange in bowl 2- Put the orange in white bowl 3- Put the orange in white bowl 4- Put the orange in white bowl 5- Put the orange in white bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put orange in the bowl 2- Put the orange in white bowl 3- done\n\u003c/PRED\u003e","video":"11955398570187801316.mp4"}
+{"uid":"6363174854240668586","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nGo to the floor Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6295279171397789070.mp4"}
+{"uid":"6581895604557943876","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the tissues on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2360208725078919978.mp4"}
+{"uid":"1712055803981827860","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put oranges into the bowl. last 20 steps: 1- put an orange in bowl Q: immediate next step? \u003cPRED\u003eA: put orange in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put oranges into the bowl Q: immediate next step? \u003cPRED\u003eA: put orange in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put orange in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput orange in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put orange in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put oranges into the bowl. last 20 steps: 1- put an orange in bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put orange in the bowl 2- Put the orange in white bowl 3- Put the orange in white bowl 4- Put the orange in white bowl 5- put orange in the bowl\n\u003c/PRED\u003e","video":"13041411751759919559.mp4"}
+{"uid":"2241702833301735066","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the white packet in the right bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11666881288257438562.mp4"}
+{"uid":"6061434345032499568","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut orange in a bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4133740551819989678.mp4"}
+{"uid":"9684154120043267762","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put oranges into the bowl. last 20 steps: 1- put an orange in bowl 2- Put the orange in white bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put the orange in white bowl 2- Put the orange in white bowl 3- Put the orange in white bowl 4- put orange in the bowl 5- Put the orange in white bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put oranges into the bowl. last 20 steps: 1- put an orange in bowl 2- Put the orange in white bowl Q: immediate next step? \u003cPRED\u003eA: Put the orange in white bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the orange in white bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put oranges into the bowl Q: immediate next step? \u003cPRED\u003eA: Put the orange in white bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the orange in white bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the orange in white bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12400829911801418303.mp4"}
+{"uid":"14722542852429880993","text":"\u003ctask:success:discrete:True\u003e\nput an orange in bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put an orange in bowl\n\u003c/PRED\u003e","video":"13351193098435603742.mp4"}
+{"uid":"4200397578017227330","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput spoon on tissue Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7530416733113863080.mp4"}
+{"uid":"15826144445311611646","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the white packet into the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1278609105961886633.mp4"}
+{"uid":"14410497343279221692","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput toy in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12201821681311631173.mp4"}
+{"uid":"833660166159663507","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput another sticky notes in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6618588818173102383.mp4"}
+{"uid":"1597047311058371411","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput an orange in bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput an orange in bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put an orange in bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put oranges into the bowl. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put an orange in bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put an orange in bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put oranges into the bowl. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put an orange in bowl 2- Put the orange in white bowl 3- Put the orange in white bowl 4- Put the orange in white bowl 5- put orange in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put oranges into the bowl Q: immediate next step? \u003cPRED\u003eA: put an orange in bowl\n\u003c/PRED\u003e","video":"10670454355136706584.mp4"}
+{"uid":"4968885113205958752","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put orange in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput orange in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put oranges into the bowl Q: immediate next step? \u003cPRED\u003eA: put orange in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput orange in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put oranges into the bowl. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put orange in the bowl 2- Put the orange in white bowl 3- Put the orange in white bowl 4- Put the orange in white bowl 5- put orange in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put orange in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put oranges into the bowl. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put orange in the bowl\n\u003c/PRED\u003e","video":"16003343198019214334.mp4"}
+{"uid":"15336173081665793512","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Take the water in the glass\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nTake the water in the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11238571193382190846.mp4"}
+{"uid":"8125141830761765678","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you prepare me a cup of water and place it near my workplace?. last 20 steps: 1- Take the water in the glass 2- Put the glass on the counter top 3- Put the lid on the glass 4- Put the glass on the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you prepare me a cup of water and place it near my workplace? Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the glass on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you prepare me a cup of water and place it near my workplace?. last 20 steps: 1- Take the water in the glass 2- Put the glass on the counter top 3- Put the lid on the glass 4- Put the glass on the table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the glass on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6755849537622244632.mp4"}
+{"uid":"11013903729936305094","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put an orange in bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put oranges into the bowl. last 20 steps: 1- put an orange in bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put an orange in bowl 2- Put the orange in white bowl 3- Put the orange in white bowl 4- Put the orange in white bowl 5- put orange in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put an orange in bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put oranges into the bowl. last 20 steps: 1- put an orange in bowl Q: immediate next step? \u003cPRED\u003eA: put an orange in bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put oranges into the bowl Q: immediate next step? \u003cPRED\u003eA: put an orange in bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput an orange in bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16611843438974852803.mp4"}
+{"uid":"15290134511074290422","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put oranges into the bowl. last 20 steps: 1- put an orange in bowl 2- Put the orange in white bowl 3- Put the orange in white bowl Q: immediate next step? \u003cPRED\u003eA: put orange in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put oranges into the bowl. last 20 steps: 1- put an orange in bowl 2- Put the orange in white bowl 3- Put the orange in white bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put orange in the bowl 2- Put the orange in white bowl 3- put orange in the bowl 4- Put the orange in white bowl 5- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put orange in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put orange in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put oranges into the bowl Q: immediate next step? \u003cPRED\u003eA: put orange in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput orange in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6695280361763198496.mp4"}
+{"uid":"5835524676035004773","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the orange in white bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the orange in white bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3788896171899419519.mp4"}
+{"uid":"5688783271670506085","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the yellow packet in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18321409439089484783.mp4"}
+{"uid":"7825470129682888542","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put oranges into the bowl. last 20 steps: 1- put an orange in bowl 2- Put the orange in white bowl 3- Put the orange in white bowl 4- Put the orange in white bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put orange in the bowl 2- put orange in the bowl 3- Put the orange in white bowl 4- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put oranges into the bowl Q: immediate next step? \u003cPRED\u003eA: put orange in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put oranges into the bowl. last 20 steps: 1- put an orange in bowl 2- Put the orange in white bowl 3- Put the orange in white bowl 4- Put the orange in white bowl Q: immediate next step? \u003cPRED\u003eA: put orange in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put orange in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput orange in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put orange in the bowl\n\u003c/PRED\u003e","video":"10769557983764748842.mp4"}
+{"uid":"5541027335611888662","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace a pen on the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14532532643370981892.mp4"}
+{"uid":"12141258703560026206","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put an orange in bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput an orange in bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4137490074758059488.mp4"}
+{"uid":"18361013262529097064","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the glass on the counter top\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you prepare me a cup of water and place it near my workplace?. last 20 steps: 1- Take the water in the glass Q: immediate next step? \u003cPRED\u003eA: Put the glass on the counter top\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the glass on the counter top Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the glass on the counter top Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you prepare me a cup of water and place it near my workplace? Q: immediate next step? \u003cPRED\u003eA: Put the glass on the counter top\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the glass on the counter top\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you prepare me a cup of water and place it near my workplace?. last 20 steps: 1- Take the water in the glass Q: next 5 steps? \u003cPRED\u003eA: 1- Put the glass on the counter top 2- Put the lid on the glass 3- Put the glass on the table 4- done\n\u003c/PRED\u003e","video":"14764641705393380783.mp4"}
+{"uid":"18146452613962696842","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put oranges into the bowl. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Put the orange in white bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put oranges into the bowl. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Put the orange in white bowl 2- Put the orange in white bowl 3- Put the orange in white bowl 4- Put the orange in white bowl 5- put orange in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put oranges into the bowl Q: immediate next step? \u003cPRED\u003eA: Put the orange in white bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the orange in white bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the orange in white bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the orange in white bowl\n\u003c/PRED\u003e","video":"17476569012584748629.mp4"}
+{"uid":"17203201189628785046","text":"\u003ctask:success:discrete:False\u003e\nPlace the banana on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: grab me a banana from the mk and bring it to my desk please Q: immediate next step? \u003cPRED\u003eA: Place the banana on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the banana on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the banana on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the banana on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: grab me a banana from the mk and bring it to my desk please. last 20 steps: 1- Place the banana up right Q: immediate next step? \u003cPRED\u003eA: Place the banana on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: grab me a banana from the mk and bring it to my desk please. last 20 steps: 1- Place the banana up right Q: next 5 steps? \u003cPRED\u003eA: 1- Place the banana on the table 2- done\n\u003c/PRED\u003e","video":"13892008620867431335.mp4"}
+{"uid":"6741116106871524315","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please replace the cold brew out with the red bull Q: immediate next step? \u003cPRED\u003eA: Put the Red Bull can in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please replace the cold brew out with the red bull. last 20 steps: 1- place the can on the table 2- place the can on the table 3- place the can on the table 4- Take out the can from the tray 5- Take out the can from the tray 6- place the can in the tray Q: immediate next step? \u003cPRED\u003eA: Put the Red Bull can in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the Red Bull can in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the Red Bull can in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please replace the cold brew out with the red bull. last 20 steps: 1- place the can on the table 2- place the can on the table 3- place the can on the table 4- Take out the can from the tray 5- Take out the can from the tray 6- place the can in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Put the Red Bull can in the tray 2- place the can in the tray 3- place the can upright 4- place the can upright 5- place the can in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the Red Bull can in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the Red Bull can in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11674582007217882151.mp4"}
+{"uid":"14156944946886699305","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the red candy in the left tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10155224350949029421.mp4"}
+{"uid":"4511503909932181415","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the can in order\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the can in order Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3584726895341911741.mp4"}
+{"uid":"4832022836600871040","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the Red Bull can in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the Red Bull can in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5444832731932117351.mp4"}
+{"uid":"10468143965716821877","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please replace the cold brew out with the red bull. last 20 steps: 1- place the can on the table 2- place the can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the can on the table 2- Take out the can from the tray 3- Take out the can from the tray 4- place the can in the tray 5- place the can in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the can on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please replace the cold brew out with the red bull. last 20 steps: 1- place the can on the table 2- place the can on the table Q: immediate next step? \u003cPRED\u003eA: place the can on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please replace the cold brew out with the red bull Q: immediate next step? \u003cPRED\u003eA: place the can on the table\n\u003c/PRED\u003e","video":"3309795039350619195.mp4"}
+{"uid":"835671967141209622","text":"\u003ctask:success:discrete:True\u003e\nTake out the can from the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Take out the can from the tray\n\u003c/PRED\u003e","video":"12625791400194260358.mp4"}
+{"uid":"14510410838139797587","text":"\u003ctask:success:discrete:False\u003e\nPut the juice can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please replace the cold brew out with the red bull. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Put the juice can on the table 2- place the can on the table 3- place the can on the table 4- Take out the can from the tray 5- Take out the can from the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please replace the cold brew out with the red bull. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Put the juice can on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please replace the cold brew out with the red bull Q: immediate next step? \u003cPRED\u003eA: Put the juice can on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the juice can on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the juice can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the juice can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3293065125771754252.mp4"}
+{"uid":"8427449253294129812","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: grab me a banana from the mk and bring it to my desk please Q: immediate next step? \u003cPRED\u003eA: Place the banana up right\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: grab me a banana from the mk and bring it to my desk please. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Place the banana up right\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: grab me a banana from the mk and bring it to my desk please. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Place the banana up right 2- Place the banana on the table 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the banana up right\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the banana up right Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the banana up right Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the banana up right\n\u003c/PRED\u003e","video":"17732319228665753887.mp4"}
+{"uid":"3936464137013898935","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace fork on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17405836095395171820.mp4"}
+{"uid":"14507585112861579879","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the nut in plastic cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"940324922904270587.mp4"}
+{"uid":"3844620145723169864","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please replace the cold brew out with the red bull. last 20 steps: 1- place the can on the table 2- place the can on the table 3- place the can on the table 4- Take out the can from the tray 5- Take out the can from the tray 6- place the can in the tray 7- place the can in the tray 8- place the can in the tray 9- place the can upright 10- place the can upright 11- place the can in the tray Q: immediate next step? \u003cPRED\u003eA: Put the fifth redbull can on the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please replace the cold brew out with the red bull Q: immediate next step? \u003cPRED\u003eA: Put the fifth redbull can on the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the fifth redbull can on the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the fifth redbull can on the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please replace the cold brew out with the red bull. last 20 steps: 1- place the can on the table 2- place the can on the table 3- place the can on the table 4- Take out the can from the tray 5- Take out the can from the tray 6- place the can in the tray 7- place the can in the tray 8- place the can in the tray 9- place the can upright 10- place the can upright 11- place the can in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Put the fifth redbull can on the tray 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the fifth redbull can on the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the fifth redbull can on the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4844163155158866471.mp4"}
+{"uid":"13757994250338276422","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the Red Bull can in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the Red Bull can in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12931885032457301207.mp4"}
+{"uid":"8775874434957661240","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nTake out the can from the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Take out the can from the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please replace the cold brew out with the red bull Q: immediate next step? \u003cPRED\u003eA: Take out the can from the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nTake out the can from the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Take out the can from the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please replace the cold brew out with the red bull. last 20 steps: 1- place the can on the table 2- place the can on the table Q: immediate next step? \u003cPRED\u003eA: Take out the can from the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please replace the cold brew out with the red bull. last 20 steps: 1- place the can on the table 2- place the can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Take out the can from the tray 2- Take out the can from the tray 3- Take out the can from the tray 4- place the can in the tray 5- place the can in the tray\n\u003c/PRED\u003e","video":"17381690213846510927.mp4"}
+{"uid":"8998169404297937679","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the pistachio into the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10007965327434325232.mp4"}
+{"uid":"16428503969180380475","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the scoop in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5822336484189311763.mp4"}
+{"uid":"10888658170526282220","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the packets into white bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15435879012136219463.mp4"}
+{"uid":"11998838376080964842","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop the yellow ball in the glass jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17691383740496032090.mp4"}
+{"uid":"5076478728624963985","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the pen into the pen case Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12744638809262367578.mp4"}
+{"uid":"8902391326184597487","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please replace the cold brew out with the red bull. last 20 steps: 1- place the can on the table 2- place the can on the table 3- place the can on the table 4- Take out the can from the tray 5- Take out the can from the tray 6- place the can in the tray 7- place the can in the tray 8- place the can in the tray 9- place the can upright 10- place the can upright Q: next 5 steps? \u003cPRED\u003eA: 1- place the can in the tray 2- Put the Red Bull can in the tray 3- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the can in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please replace the cold brew out with the red bull. last 20 steps: 1- place the can on the table 2- place the can on the table 3- place the can on the table 4- Take out the can from the tray 5- Take out the can from the tray 6- place the can in the tray 7- place the can in the tray 8- place the can in the tray 9- place the can upright 10- place the can upright Q: immediate next step? \u003cPRED\u003eA: place the can in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the can in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please replace the cold brew out with the red bull Q: immediate next step? \u003cPRED\u003eA: place the can in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the can in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the can in the tray\n\u003c/PRED\u003e","video":"4958388961754245075.mp4"}
+{"uid":"1102651496928751800","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the Red Bull can in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please replace the cold brew out with the red bull Q: immediate next step? \u003cPRED\u003eA: Put the Red Bull can in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please replace the cold brew out with the red bull. last 20 steps: 1- place the can on the table 2- place the can on the table 3- place the can on the table 4- Take out the can from the tray 5- Take out the can from the tray Q: immediate next step? \u003cPRED\u003eA: Put the Red Bull can in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the Red Bull can in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the Red Bull can in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please replace the cold brew out with the red bull. last 20 steps: 1- place the can on the table 2- place the can on the table 3- place the can on the table 4- Take out the can from the tray 5- Take out the can from the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Put the Red Bull can in the tray 2- place the can in the tray 3- place the can in the tray 4- place the can upright 5- place the can upright\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the Red Bull can in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7322558688724267800.mp4"}
+{"uid":"13137440164754121021","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the white packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16277203724617990543.mp4"}
+{"uid":"659998712354689867","text":"\u003ctask:success:discrete:False\u003e\nPut the Red Bull can in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please replace the cold brew out with the red bull. last 20 steps: 1- place the can on the table 2- place the can on the table 3- place the can on the table 4- Take out the can from the tray 5- Take out the can from the tray 6- place the can in the tray 7- place the can in the tray 8- place the can in the tray 9- place the can upright 10- place the can upright 11- place the can in the tray Q: immediate next step? \u003cPRED\u003eA: Put the Red Bull can in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the Red Bull can in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the Red Bull can in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the Red Bull can in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please replace the cold brew out with the red bull. last 20 steps: 1- place the can on the table 2- place the can on the table 3- place the can on the table 4- Take out the can from the tray 5- Take out the can from the tray 6- place the can in the tray 7- place the can in the tray 8- place the can in the tray 9- place the can upright 10- place the can upright 11- place the can in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Put the Red Bull can in the tray 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please replace the cold brew out with the red bull Q: immediate next step? \u003cPRED\u003eA: Put the Red Bull can in the tray\n\u003c/PRED\u003e","video":"16628025058264853781.mp4"}
+{"uid":"7707943511810931084","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the can in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the can in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the can in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please replace the cold brew out with the red bull. last 20 steps: 1- place the can on the table 2- place the can on the table 3- place the can on the table 4- Take out the can from the tray 5- Take out the can from the tray 6- place the can in the tray 7- place the can in the tray 8- place the can in the tray 9- place the can upright 10- place the can upright 11- place the can in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place the can in the tray 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the can in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please replace the cold brew out with the red bull. last 20 steps: 1- place the can on the table 2- place the can on the table 3- place the can on the table 4- Take out the can from the tray 5- Take out the can from the tray 6- place the can in the tray 7- place the can in the tray 8- place the can in the tray 9- place the can upright 10- place the can upright 11- place the can in the tray Q: immediate next step? \u003cPRED\u003eA: place the can in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please replace the cold brew out with the red bull Q: immediate next step? \u003cPRED\u003eA: place the can in the tray\n\u003c/PRED\u003e","video":"11931717319634504702.mp4"}
+{"uid":"12933131149315334424","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nopen the glass jar cap Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4540829616225453355.mp4"}
+{"uid":"11564972504484770487","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop pen in stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1011119562961721816.mp4"}
+{"uid":"13471911194193713284","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please replace the cold brew out with the red bull. last 20 steps: 1- place the can on the table Q: immediate next step? \u003cPRED\u003eA: place the can on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the can on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please replace the cold brew out with the red bull Q: immediate next step? \u003cPRED\u003eA: place the can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please replace the cold brew out with the red bull. last 20 steps: 1- place the can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the can on the table 2- place the can on the table 3- Take out the can from the tray 4- Take out the can from the tray 5- place the can in the tray\n\u003c/PRED\u003e","video":"7509697234567138164.mp4"}
+{"uid":"5461484714512766988","text":"\u003ctask:success:discrete:True\u003e\nplace the can in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the can in the tray\n\u003c/PRED\u003e","video":"8903330298383519587.mp4"}
+{"uid":"10385999894456049829","text":"\u003ctask:success:discrete:False\u003e\nPut the redbull can on the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the redbull can on the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please replace the cold brew out with the red bull Q: immediate next step? \u003cPRED\u003eA: Put the redbull can on the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the redbull can on the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please replace the cold brew out with the red bull. last 20 steps: 1- place the can on the table 2- place the can on the table 3- place the can on the table 4- Take out the can from the tray 5- Take out the can from the tray Q: immediate next step? \u003cPRED\u003eA: Put the redbull can on the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the redbull can on the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please replace the cold brew out with the red bull. last 20 steps: 1- place the can on the table 2- place the can on the table 3- place the can on the table 4- Take out the can from the tray 5- Take out the can from the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Put the redbull can on the tray 2- place the can in the tray 3- place the can in the tray 4- place the can upright 5- place the can upright\n\u003c/PRED\u003e","video":"15062210215836750755.mp4"}
+{"uid":"13453139814935952631","text":"\u003ctask:success:discrete:True\u003e\nTake out the can from the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Take out the can from the tray\n\u003c/PRED\u003e","video":"15548843092012483136.mp4"}
+{"uid":"4937824044100775332","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nTake out the can from the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nTake out the can from the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Take out the can from the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please replace the cold brew out with the red bull. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Take out the can from the tray 2- place the can on the table 3- place the can on the table 4- Take out the can from the tray 5- Take out the can from the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Take out the can from the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please replace the cold brew out with the red bull Q: immediate next step? \u003cPRED\u003eA: Take out the can from the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please replace the cold brew out with the red bull. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Take out the can from the tray\n\u003c/PRED\u003e","video":"12653455747273327603.mp4"}
+{"uid":"3040058120228891055","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace a yellow candy in left white bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14093945889182751846.mp4"}
+{"uid":"10907742587522170771","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the orange in the glass jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11075742709733146799.mp4"}
+{"uid":"5604116665539000945","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Take out the can from the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nTake out the can from the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12902936444955133348.mp4"}
+{"uid":"2651850036626196325","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the blue packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13118343030283267829.mp4"}
+{"uid":"7922479863979963818","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please replace the cold brew out with the red bull. last 20 steps: 1- place the can on the table 2- place the can on the table 3- place the can on the table 4- Take out the can from the tray 5- Take out the can from the tray 6- place the can in the tray 7- place the can in the tray 8- place the can in the tray 9- place the can upright Q: next 5 steps? \u003cPRED\u003eA: 1- place the can upright 2- place the can in the tray 3- Put the Red Bull can in the tray 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the can upright\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please replace the cold brew out with the red bull. last 20 steps: 1- place the can on the table 2- place the can on the table 3- place the can on the table 4- Take out the can from the tray 5- Take out the can from the tray 6- place the can in the tray 7- place the can in the tray 8- place the can in the tray 9- place the can upright Q: immediate next step? \u003cPRED\u003eA: place the can upright\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the can upright Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please replace the cold brew out with the red bull Q: immediate next step? \u003cPRED\u003eA: place the can upright\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the can upright Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the can upright\n\u003c/PRED\u003e","video":"13880604127608305366.mp4"}
+{"uid":"8642458721040497149","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12569288842680053402.mp4"}
+{"uid":"7630760667694472934","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the can on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please replace the cold brew out with the red bull. last 20 steps: 1- place the can on the table 2- place the can on the table 3- place the can on the table 4- Take out the can from the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place the can on the table 2- place the can in the tray 3- place the can in the tray 4- place the can in the tray 5- place the can upright\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please replace the cold brew out with the red bull Q: immediate next step? \u003cPRED\u003eA: place the can on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please replace the cold brew out with the red bull. last 20 steps: 1- place the can on the table 2- place the can on the table 3- place the can on the table 4- Take out the can from the tray Q: immediate next step? \u003cPRED\u003eA: place the can on the table\n\u003c/PRED\u003e","video":"4007232067172941747.mp4"}
+{"uid":"16593470206714911897","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please replace the cold brew out with the red bull Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please replace the cold brew out with the red bull. last 20 steps: 1- place the can on the table 2- place the can on the table 3- place the can on the table 4- Take out the can from the tray 5- Take out the can from the tray 6- place the can in the tray 7- place the can in the tray 8- place the can in the tray 9- place the can upright 10- place the can upright 11- place the can in the tray 12- place the can in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the can in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please replace the cold brew out with the red bull. last 20 steps: 1- place the can on the table 2- place the can on the table 3- place the can on the table 4- Take out the can from the tray 5- Take out the can from the tray 6- place the can in the tray 7- place the can in the tray 8- place the can in the tray 9- place the can upright 10- place the can upright 11- place the can in the tray 12- place the can in the tray Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the can in the tray\n\u003c/PRED\u003e","video":"2234407243718250392.mp4"}
+{"uid":"17646367154840659294","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack the lids Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9804081679393442252.mp4"}
+{"uid":"5323187884838052006","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please replace the cold brew out with the red bull Q: immediate next step? \u003cPRED\u003eA: Put the second redbull can on the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the second redbull can on the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the second redbull can on the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please replace the cold brew out with the red bull. last 20 steps: 1- place the can on the table 2- place the can on the table 3- place the can on the table 4- Take out the can from the tray 5- Take out the can from the tray 6- place the can in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Put the second redbull can on the tray 2- place the can in the tray 3- place the can upright 4- place the can upright 5- place the can in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the second redbull can on the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please replace the cold brew out with the red bull. last 20 steps: 1- place the can on the table 2- place the can on the table 3- place the can on the table 4- Take out the can from the tray 5- Take out the can from the tray 6- place the can in the tray Q: immediate next step? \u003cPRED\u003eA: Put the second redbull can on the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the second redbull can on the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10470062524669207819.mp4"}
+{"uid":"12511558068644188093","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput some blue pens in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10966227381797435426.mp4"}
+{"uid":"11715532643903264363","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the fifth juice can on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the fifth juice can on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the fifth juice can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the fifth juice can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please replace the cold brew out with the red bull. last 20 steps: 1- place the can on the table 2- place the can on the table 3- place the can on the table 4- Take out the can from the tray Q: immediate next step? \u003cPRED\u003eA: Put the fifth juice can on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please replace the cold brew out with the red bull Q: immediate next step? \u003cPRED\u003eA: Put the fifth juice can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please replace the cold brew out with the red bull. last 20 steps: 1- place the can on the table 2- place the can on the table 3- place the can on the table 4- Take out the can from the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Put the fifth juice can on the table 2- place the can in the tray 3- place the can in the tray 4- place the can in the tray 5- place the can upright\n\u003c/PRED\u003e","video":"3165657028042010732.mp4"}
+{"uid":"15456450445055486183","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the pistachio into the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10691988925460385953.mp4"}
+{"uid":"17031803918797132657","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the scrubber in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5732723800319662133.mp4"}
+{"uid":"12824385129610632577","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4912976010823736765.mp4"}
+{"uid":"17754823568726746791","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace chair under table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8394994573646573165.mp4"}
+{"uid":"11838431280444259194","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Take out the can from the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nTake out the can from the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10119955655788967489.mp4"}
+{"uid":"9717631612650303254","text":"\u003ctask:success:discrete:True\u003e\nPut the fifth juice can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the fifth juice can on the table\n\u003c/PRED\u003e","video":"7681366367808366324.mp4"}
+{"uid":"6318009052730865595","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nTake out the can from the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nTake out the can from the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Take out the can from the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please replace the cold brew out with the red bull. last 20 steps: 1- place the can on the table 2- place the can on the table 3- place the can on the table 4- Take out the can from the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Take out the can from the tray 2- place the can in the tray 3- place the can in the tray 4- place the can in the tray 5- place the can upright\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please replace the cold brew out with the red bull. last 20 steps: 1- place the can on the table 2- place the can on the table 3- place the can on the table 4- Take out the can from the tray Q: immediate next step? \u003cPRED\u003eA: Take out the can from the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Take out the can from the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please replace the cold brew out with the red bull Q: immediate next step? \u003cPRED\u003eA: Take out the can from the tray\n\u003c/PRED\u003e","video":"5669894362304913789.mp4"}
+{"uid":"10237223361497331704","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the can in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the can in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please replace the cold brew out with the red bull. last 20 steps: 1- place the can on the table 2- place the can on the table 3- place the can on the table 4- Take out the can from the tray 5- Take out the can from the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place the can in the tray 2- place the can in the tray 3- place the can in the tray 4- place the can upright 5- place the can upright\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please replace the cold brew out with the red bull Q: immediate next step? \u003cPRED\u003eA: place the can in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the can in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the can in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please replace the cold brew out with the red bull. last 20 steps: 1- place the can on the table 2- place the can on the table 3- place the can on the table 4- Take out the can from the tray 5- Take out the can from the tray Q: immediate next step? \u003cPRED\u003eA: place the can in the tray\n\u003c/PRED\u003e","video":"13535019810105487588.mp4"}
+{"uid":"18219655909517090812","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the book in the shelf Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9382678899184055970.mp4"}
+{"uid":"11757154567848144878","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please replace the cold brew out with the red bull Q: immediate next step? \u003cPRED\u003eA: place the can in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the can in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please replace the cold brew out with the red bull. last 20 steps: 1- place the can on the table 2- place the can on the table 3- place the can on the table 4- Take out the can from the tray 5- Take out the can from the tray 6- place the can in the tray Q: immediate next step? \u003cPRED\u003eA: place the can in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the can in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the can in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please replace the cold brew out with the red bull. last 20 steps: 1- place the can on the table 2- place the can on the table 3- place the can on the table 4- Take out the can from the tray 5- Take out the can from the tray 6- place the can in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place the can in the tray 2- place the can in the tray 3- place the can upright 4- place the can upright 5- place the can in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the can in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2932687852349332141.mp4"}
+{"uid":"8907376201784736835","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop candy into tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17183211253091817784.mp4"}
+{"uid":"2400919774192272795","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the apple in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1465815891960540085.mp4"}
+{"uid":"10819452442022665216","text":"\u003ctask:success:discrete:False\u003e\nPut the can in order Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the can in order\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the can in order Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please replace the cold brew out with the red bull Q: immediate next step? \u003cPRED\u003eA: Put the can in order\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please replace the cold brew out with the red bull. last 20 steps: 1- place the can on the table 2- place the can on the table 3- place the can on the table 4- Take out the can from the tray 5- Take out the can from the tray 6- place the can in the tray 7- place the can in the tray 8- place the can in the tray 9- place the can upright Q: next 5 steps? \u003cPRED\u003eA: 1- Put the can in order 2- place the can in the tray 3- Put the Red Bull can in the tray 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please replace the cold brew out with the red bull. last 20 steps: 1- place the can on the table 2- place the can on the table 3- place the can on the table 4- Take out the can from the tray 5- Take out the can from the tray 6- place the can in the tray 7- place the can in the tray 8- place the can in the tray 9- place the can upright Q: immediate next step? \u003cPRED\u003eA: Put the can in order\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the can in order\n\u003c/PRED\u003e","video":"13032832795701762277.mp4"}
+{"uid":"6514810786344981601","text":"\u003ctask:success:discrete:True\u003e\nPut the third juice can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the third juice can on the table\n\u003c/PRED\u003e","video":"6886376185857070869.mp4"}
+{"uid":"760479730359996845","text":"\u003ctask:success:discrete:True\u003e\nplace the can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the can on the table\n\u003c/PRED\u003e","video":"18348480452938333548.mp4"}
+{"uid":"5825672144144118866","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the can on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please replace the cold brew out with the red bull Q: immediate next step? \u003cPRED\u003eA: place the can on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please replace the cold brew out with the red bull. last 20 steps: 1- place the can on the table 2- place the can on the table 3- place the can on the table Q: immediate next step? \u003cPRED\u003eA: place the can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please replace the cold brew out with the red bull. last 20 steps: 1- place the can on the table 2- place the can on the table 3- place the can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the can on the table 2- Take out the can from the tray 3- place the can in the tray 4- place the can in the tray 5- place the can in the tray\n\u003c/PRED\u003e","video":"11275513794164208746.mp4"}
+{"uid":"17265166508452481882","text":"\u003ctask:success:discrete:True\u003e\nplace the can upright Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the can upright\n\u003c/PRED\u003e","video":"8200248185772925464.mp4"}
+{"uid":"16321627730291754770","text":"\u003ctask:success:discrete:True\u003e\nplace the can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the can on the table\n\u003c/PRED\u003e","video":"15073883521863399145.mp4"}
+{"uid":"11674525172212895702","text":"\u003ctask:success:discrete:False\u003e\nPut the Red Bull can in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please replace the cold brew out with the red bull. last 20 steps: 1- place the can on the table 2- place the can on the table 3- place the can on the table 4- Take out the can from the tray 5- Take out the can from the tray 6- place the can in the tray 7- place the can in the tray Q: immediate next step? \u003cPRED\u003eA: Put the Red Bull can in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please replace the cold brew out with the red bull. last 20 steps: 1- place the can on the table 2- place the can on the table 3- place the can on the table 4- Take out the can from the tray 5- Take out the can from the tray 6- place the can in the tray 7- place the can in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Put the Red Bull can in the tray 2- place the can upright 3- place the can upright 4- place the can in the tray 5- Put the Red Bull can in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the Red Bull can in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the Red Bull can in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the Red Bull can in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please replace the cold brew out with the red bull Q: immediate next step? \u003cPRED\u003eA: Put the Red Bull can in the tray\n\u003c/PRED\u003e","video":"5838267874907075326.mp4"}
+{"uid":"3981130992720066610","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the orange candy in a cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15150864836641638347.mp4"}
+{"uid":"6309524582306100431","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the sticky notes in the container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6601708050587475108.mp4"}
+{"uid":"1477197807400798539","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput candy in white tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10874597066473131813.mp4"}
+{"uid":"6485179686375839990","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the book standing at left in the shelf Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2323075148191787451.mp4"}
+{"uid":"7405395160691843935","text":"\u003ctask:success:discrete:True\u003e\nplace the can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the can on the table\n\u003c/PRED\u003e","video":"4918752914977948773.mp4"}
+{"uid":"10734271070731513915","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the pen in the black tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6967743715611840021.mp4"}
+{"uid":"17990574094944713284","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the fourth redbull can on the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the fourth redbull can on the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8994519614423969278.mp4"}
+{"uid":"14113767480618672139","text":"\u003ctask:success:discrete:True\u003e\nPut the Red Bull can in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please replace the cold brew out with the red bull. last 20 steps: 1- place the can on the table 2- place the can on the table 3- place the can on the table 4- Take out the can from the tray 5- Take out the can from the tray 6- place the can in the tray 7- place the can in the tray 8- place the can in the tray 9- place the can upright 10- place the can upright 11- place the can in the tray 12- Put the Red Bull can in the tray Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please replace the cold brew out with the red bull Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the Red Bull can in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please replace the cold brew out with the red bull. last 20 steps: 1- place the can on the table 2- place the can on the table 3- place the can on the table 4- Take out the can from the tray 5- Take out the can from the tray 6- place the can in the tray 7- place the can in the tray 8- place the can in the tray 9- place the can upright 10- place the can upright 11- place the can in the tray 12- Put the Red Bull can in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"344371147908820343.mp4"}
+{"uid":"16198600354239252748","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput forks in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5624985602466113003.mp4"}
+{"uid":"7230036504655395279","text":"\u003ctask:success:discrete:False\u003e\nPut the second juice can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the second juice can on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please replace the cold brew out with the red bull. last 20 steps: 1- place the can on the table Q: immediate next step? \u003cPRED\u003eA: Put the second juice can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please replace the cold brew out with the red bull. last 20 steps: 1- place the can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the second juice can on the table 2- place the can on the table 3- Take out the can from the tray 4- Take out the can from the tray 5- place the can in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the second juice can on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please replace the cold brew out with the red bull Q: immediate next step? \u003cPRED\u003eA: Put the second juice can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the second juice can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9433763582547855536.mp4"}
+{"uid":"2172113104316458165","text":"\u003ctask:success:discrete:False\u003e\nPut the Red Bull can in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please replace the cold brew out with the red bull Q: immediate next step? \u003cPRED\u003eA: Put the Red Bull can in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the Red Bull can in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the Red Bull can in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the Red Bull can in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please replace the cold brew out with the red bull. last 20 steps: 1- place the can on the table 2- place the can on the table 3- place the can on the table 4- Take out the can from the tray 5- Take out the can from the tray 6- place the can in the tray 7- place the can in the tray 8- place the can in the tray 9- place the can upright 10- place the can upright Q: immediate next step? \u003cPRED\u003eA: Put the Red Bull can in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please replace the cold brew out with the red bull. last 20 steps: 1- place the can on the table 2- place the can on the table 3- place the can on the table 4- Take out the can from the tray 5- Take out the can from the tray 6- place the can in the tray 7- place the can in the tray 8- place the can in the tray 9- place the can upright 10- place the can upright Q: next 5 steps? \u003cPRED\u003eA: 1- Put the Red Bull can in the tray 2- Put the Red Bull can in the tray 3- done\n\u003c/PRED\u003e","video":"7136987676701501877.mp4"}
+{"uid":"4298339937483193176","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please replace the cold brew out with the red bull. last 20 steps: 1- place the can on the table 2- place the can on the table 3- place the can on the table 4- Take out the can from the tray 5- Take out the can from the tray 6- place the can in the tray 7- place the can in the tray Q: immediate next step? \u003cPRED\u003eA: place the can in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please replace the cold brew out with the red bull. last 20 steps: 1- place the can on the table 2- place the can on the table 3- place the can on the table 4- Take out the can from the tray 5- Take out the can from the tray 6- place the can in the tray 7- place the can in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place the can in the tray 2- place the can upright 3- place the can upright 4- place the can in the tray 5- Put the Red Bull can in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please replace the cold brew out with the red bull Q: immediate next step? \u003cPRED\u003eA: place the can in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the can in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the can in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the can in the tray\n\u003c/PRED\u003e","video":"9332238500790830899.mp4"}
+{"uid":"15117454219730458446","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the third juice can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please replace the cold brew out with the red bull. last 20 steps: 1- place the can on the table 2- place the can on the table Q: immediate next step? \u003cPRED\u003eA: Put the third juice can on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the third juice can on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the third juice can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please replace the cold brew out with the red bull Q: immediate next step? \u003cPRED\u003eA: Put the third juice can on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the third juice can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please replace the cold brew out with the red bull. last 20 steps: 1- place the can on the table 2- place the can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the third juice can on the table 2- Take out the can from the tray 3- Take out the can from the tray 4- place the can in the tray 5- place the can in the tray\n\u003c/PRED\u003e","video":"16646033876360472686.mp4"}
+{"uid":"9503848402826187775","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the banana on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: grab me a banana from the mk and bring it to my desk please. last 20 steps: 1- Place the banana up right 2- Place the banana on the table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the banana on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: grab me a banana from the mk and bring it to my desk please Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: grab me a banana from the mk and bring it to my desk please. last 20 steps: 1- Place the banana up right 2- Place the banana on the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"15874962418533792149.mp4"}
+{"uid":"4301361036185219192","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick the glass from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9639299165743612167.mp4"}
+{"uid":"12019146999798392795","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please replace the cold brew out with the red bull. last 20 steps: 1- place the can on the table 2- place the can on the table 3- place the can on the table Q: immediate next step? \u003cPRED\u003eA: Take out the can from the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Take out the can from the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nTake out the can from the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please replace the cold brew out with the red bull Q: immediate next step? \u003cPRED\u003eA: Take out the can from the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Take out the can from the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please replace the cold brew out with the red bull. last 20 steps: 1- place the can on the table 2- place the can on the table 3- place the can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Take out the can from the tray 2- Take out the can from the tray 3- place the can in the tray 4- place the can in the tray 5- place the can in the tray\n\u003c/PRED\u003e","video":"1231431713029182535.mp4"}
+{"uid":"3779886637702043448","text":"\u003ctask:success:discrete:True\u003e\nplace the can in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the can in the tray\n\u003c/PRED\u003e","video":"6177012367233071967.mp4"}
+{"uid":"14130780857084282125","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please replace the cold brew out with the red bull. last 20 steps: 1- place the can on the table 2- place the can on the table 3- place the can on the table 4- Take out the can from the tray 5- Take out the can from the tray 6- place the can in the tray 7- place the can in the tray Q: immediate next step? \u003cPRED\u003eA: Put the third redbull can on the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the third redbull can on the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the third redbull can on the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the third redbull can on the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the third redbull can on the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please replace the cold brew out with the red bull. last 20 steps: 1- place the can on the table 2- place the can on the table 3- place the can on the table 4- Take out the can from the tray 5- Take out the can from the tray 6- place the can in the tray 7- place the can in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Put the third redbull can on the tray 2- place the can upright 3- place the can upright 4- place the can in the tray 5- Put the Red Bull can in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please replace the cold brew out with the red bull Q: immediate next step? \u003cPRED\u003eA: Put the third redbull can on the tray\n\u003c/PRED\u003e","video":"5815264128339971922.mp4"}
+{"uid":"9586886409687596323","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the  packet into the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3158282991038255191.mp4"}
+{"uid":"7314883313944074918","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pen holder on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10832429834929173971.mp4"}
+{"uid":"15146335862753549094","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please replace the cold brew out with the red bull Q: immediate next step? \u003cPRED\u003eA: Put the fourth juice can on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the fourth juice can on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the fourth juice can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the fourth juice can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the fourth juice can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please replace the cold brew out with the red bull. last 20 steps: 1- place the can on the table 2- place the can on the table 3- place the can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the fourth juice can on the table 2- Take out the can from the tray 3- place the can in the tray 4- place the can in the tray 5- place the can in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please replace the cold brew out with the red bull. last 20 steps: 1- place the can on the table 2- place the can on the table 3- place the can on the table Q: immediate next step? \u003cPRED\u003eA: Put the fourth juice can on the table\n\u003c/PRED\u003e","video":"8812021576464999828.mp4"}
+{"uid":"17284245899858766550","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the fourth redbull can on the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please replace the cold brew out with the red bull Q: immediate next step? \u003cPRED\u003eA: Put the fourth redbull can on the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the fourth redbull can on the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please replace the cold brew out with the red bull. last 20 steps: 1- place the can on the table 2- place the can on the table 3- place the can on the table 4- Take out the can from the tray 5- Take out the can from the tray 6- place the can in the tray 7- place the can in the tray 8- place the can in the tray 9- place the can upright 10- place the can upright Q: immediate next step? \u003cPRED\u003eA: Put the fourth redbull can on the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the fourth redbull can on the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please replace the cold brew out with the red bull. last 20 steps: 1- place the can on the table 2- place the can on the table 3- place the can on the table 4- Take out the can from the tray 5- Take out the can from the tray 6- place the can in the tray 7- place the can in the tray 8- place the can in the tray 9- place the can upright 10- place the can upright Q: next 5 steps? \u003cPRED\u003eA: 1- Put the fourth redbull can on the tray 2- Put the Red Bull can in the tray 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the fourth redbull can on the tray\n\u003c/PRED\u003e","video":"5306819673337316102.mp4"}
+{"uid":"9890071088576795733","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Take out the can from the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nTake out the can from the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4816799813976214744.mp4"}
+{"uid":"327319984557897896","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the can on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5444661560057143806.mp4"}
+{"uid":"4256380191193752830","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack the book Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13063655043077632838.mp4"}
+{"uid":"14790624813039154265","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove towards the stapler Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17174506834208037553.mp4"}
+{"uid":"10202609730505195629","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please replace the cold brew out with the red bull. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place the can on the table 2- place the can on the table 3- place the can on the table 4- Take out the can from the tray 5- Take out the can from the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the can on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please replace the cold brew out with the red bull Q: immediate next step? \u003cPRED\u003eA: place the can on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please replace the cold brew out with the red bull. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place the can on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15575563892646015448.mp4"}
+{"uid":"13898867574045729362","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the can straight into a tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please replace the cold brew out with the red bull Q: immediate next step? \u003cPRED\u003eA: Put the can straight into a tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please replace the cold brew out with the red bull. last 20 steps: 1- place the can on the table 2- place the can on the table 3- place the can on the table 4- Take out the can from the tray 5- Take out the can from the tray 6- place the can in the tray 7- place the can in the tray 8- place the can in the tray 9- place the can upright 10- place the can upright 11- place the can in the tray 12- Put the Red Bull can in the tray Q: immediate next step? \u003cPRED\u003eA: Put the can straight into a tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the can straight into a tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the can straight into a tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the can straight into a tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please replace the cold brew out with the red bull. last 20 steps: 1- place the can on the table 2- place the can on the table 3- place the can on the table 4- Take out the can from the tray 5- Take out the can from the tray 6- place the can in the tray 7- place the can in the tray 8- place the can in the tray 9- place the can upright 10- place the can upright 11- place the can in the tray 12- Put the Red Bull can in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Put the can straight into a tray 2- done\n\u003c/PRED\u003e","video":"14796182395374423169.mp4"}
+{"uid":"8261236395970394899","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nTake out the can from the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please replace the cold brew out with the red bull Q: immediate next step? \u003cPRED\u003eA: Take out the can from the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Take out the can from the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please replace the cold brew out with the red bull. last 20 steps: 1- place the can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Take out the can from the tray 2- place the can on the table 3- Take out the can from the tray 4- Take out the can from the tray 5- place the can in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Take out the can from the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please replace the cold brew out with the red bull. last 20 steps: 1- place the can on the table Q: immediate next step? \u003cPRED\u003eA: Take out the can from the tray\n\u003c/PRED\u003e","video":"14168974287757176742.mp4"}
+{"uid":"18239127705267539082","text":"\u003ctask:success:discrete:True\u003e\nplace the can in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the can in the tray\n\u003c/PRED\u003e","video":"5362840542292960766.mp4"}
+{"uid":"7395438021150521513","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please replace the cold brew out with the red bull Q: immediate next step? \u003cPRED\u003eA: Put the redbull can on the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please replace the cold brew out with the red bull. last 20 steps: 1- place the can on the table 2- place the can on the table 3- place the can on the table 4- Take out the can from the tray 5- Take out the can from the tray 6- place the can in the tray 7- place the can in the tray 8- place the can in the tray 9- place the can upright Q: immediate next step? \u003cPRED\u003eA: Put the redbull can on the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the redbull can on the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please replace the cold brew out with the red bull. last 20 steps: 1- place the can on the table 2- place the can on the table 3- place the can on the table 4- Take out the can from the tray 5- Take out the can from the tray 6- place the can in the tray 7- place the can in the tray 8- place the can in the tray 9- place the can upright Q: next 5 steps? \u003cPRED\u003eA: 1- Put the redbull can on the tray 2- place the can in the tray 3- Put the Red Bull can in the tray 4- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the redbull can on the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the redbull can on the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the redbull can on the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13135594444997146004.mp4"}
+{"uid":"4618773355955377804","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput apple on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8797661689457481323.mp4"}
+{"uid":"3834757341888873868","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the can on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4359153720444510912.mp4"}
+{"uid":"15714437296135206714","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the can upright\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the can upright Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the can upright Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the can upright\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please replace the cold brew out with the red bull Q: immediate next step? \u003cPRED\u003eA: place the can upright\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please replace the cold brew out with the red bull. last 20 steps: 1- place the can on the table 2- place the can on the table 3- place the can on the table 4- Take out the can from the tray 5- Take out the can from the tray 6- place the can in the tray 7- place the can in the tray 8- place the can in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place the can upright 2- place the can upright 3- place the can in the tray 4- Put the Red Bull can in the tray 5- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please replace the cold brew out with the red bull. last 20 steps: 1- place the can on the table 2- place the can on the table 3- place the can on the table 4- Take out the can from the tray 5- Take out the can from the tray 6- place the can in the tray 7- place the can in the tray 8- place the can in the tray Q: immediate next step? \u003cPRED\u003eA: place the can upright\n\u003c/PRED\u003e","video":"7283766679949787610.mp4"}
+{"uid":"10546795088944242401","text":"\u003ctask:success:discrete:True\u003e\nplace the can in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the can in the tray\n\u003c/PRED\u003e","video":"16907559043173108847.mp4"}
+{"uid":"13411781850538318345","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pistachio in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"875630744226331357.mp4"}
+{"uid":"15940793188172334915","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: organize the pink sugar packets in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: organize the pink sugar packets in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: organize the pink sugar packets in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- organize the brown sugar packets in the tray 2- drop candy into organizer 3- put the sugar packet in the organizer 4- drop candy into organizer 5- put the pink packet in the organizer 6- put the pink packet in the organizer Q: immediate next step? \u003cPRED\u003eA: organize the pink sugar packets in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\norganize the pink sugar packets in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- organize the brown sugar packets in the tray 2- drop candy into organizer 3- put the sugar packet in the organizer 4- drop candy into organizer 5- put the pink packet in the organizer 6- put the pink packet in the organizer Q: next 5 steps? \u003cPRED\u003eA: 1- organize the pink sugar packets in the tray 2- put the yellow packet in the organizer 3- drop candy into organizer 4- drop candy into organizer 5- drop candy into organizer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\norganize the pink sugar packets in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5612720632157188267.mp4"}
+{"uid":"2360404775558506918","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput pistachio in right cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1342094865859199240.mp4"}
+{"uid":"9674920383657671808","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput candy in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1573626064683412116.mp4"}
+{"uid":"10797865337963485116","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the chocolate in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10661332688683916178.mp4"}
+{"uid":"9931450614411432140","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the Pistachio in the paper glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10706526705936544966.mp4"}
+{"uid":"1249456309249062701","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\norganize the brown sugar packets in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: organize the brown sugar packets in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\norganize the brown sugar packets in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- organize the brown sugar packets in the tray 2- put the sugar packet in the organizer 3- drop candy into organizer 4- put the pink packet in the organizer 5- put the pink packet in the organizer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: organize the brown sugar packets in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: organize the brown sugar packets in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: organize the brown sugar packets in the tray\n\u003c/PRED\u003e","video":"9573472944032944042.mp4"}
+{"uid":"1752940444746481812","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop candy into organizer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- organize the brown sugar packets in the tray 2- drop candy into organizer 3- put the sugar packet in the organizer 4- drop candy into organizer 5- put the pink packet in the organizer Q: immediate next step? \u003cPRED\u003eA: drop candy into organizer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- organize the brown sugar packets in the tray 2- drop candy into organizer 3- put the sugar packet in the organizer 4- drop candy into organizer 5- put the pink packet in the organizer Q: next 5 steps? \u003cPRED\u003eA: 1- drop candy into organizer 2- put the yellow packet in the organizer 3- drop candy into organizer 4- drop candy into organizer 5- drop candy into organizer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop candy into organizer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: drop candy into organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop candy into organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop candy into organizer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10264072199344475805.mp4"}
+{"uid":"16090455282612482867","text":"\u003ctask:success:discrete:False\u003e\ndrop candy into organizer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- organize the brown sugar packets in the tray 2- drop candy into organizer 3- put the sugar packet in the organizer 4- drop candy into organizer 5- put the pink packet in the organizer 6- put the pink packet in the organizer 7- drop candy into organizer 8- put the yellow packet in the organizer Q: immediate next step? \u003cPRED\u003eA: drop candy into organizer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop candy into organizer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop candy into organizer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: drop candy into organizer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- organize the brown sugar packets in the tray 2- drop candy into organizer 3- put the sugar packet in the organizer 4- drop candy into organizer 5- put the pink packet in the organizer 6- put the pink packet in the organizer 7- drop candy into organizer 8- put the yellow packet in the organizer Q: next 5 steps? \u003cPRED\u003eA: 1- drop candy into organizer 2- drop candy into organizer 3- drop candy into organizer 4- put the yellow packet in the organizer 5- drop candy into organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop candy into organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1857090324472957773.mp4"}
+{"uid":"65681006807273336","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the sugar packet in the organizer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put the sugar packet in the organizer 2- drop candy into organizer 3- put the sugar packet in the organizer 4- drop candy into organizer 5- put the pink packet in the organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the sugar packet in the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: put the sugar packet in the organizer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the sugar packet in the organizer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put the sugar packet in the organizer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the sugar packet in the organizer\n\u003c/PRED\u003e","video":"14944020528683703917.mp4"}
+{"uid":"10893921429056508500","text":"\u003ctask:success:discrete:False\u003e\nput the yellow packet in the organizer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the yellow packet in the organizer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the yellow packet in the organizer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- organize the brown sugar packets in the tray 2- drop candy into organizer 3- put the sugar packet in the organizer 4- drop candy into organizer 5- put the pink packet in the organizer 6- put the pink packet in the organizer 7- drop candy into organizer Q: immediate next step? \u003cPRED\u003eA: put the yellow packet in the organizer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: put the yellow packet in the organizer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- organize the brown sugar packets in the tray 2- drop candy into organizer 3- put the sugar packet in the organizer 4- drop candy into organizer 5- put the pink packet in the organizer 6- put the pink packet in the organizer 7- drop candy into organizer Q: next 5 steps? \u003cPRED\u003eA: 1- put the yellow packet in the organizer 2- drop candy into organizer 3- drop candy into organizer 4- drop candy into organizer 5- put the yellow packet in the organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the yellow packet in the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7175724305257901863.mp4"}
+{"uid":"18349810299650854344","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput candy in small white bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5270434938422215821.mp4"}
+{"uid":"15992957501836013098","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- organize the brown sugar packets in the tray 2- drop candy into organizer 3- put the sugar packet in the organizer 4- drop candy into organizer 5- put the pink packet in the organizer 6- put the pink packet in the organizer 7- drop candy into organizer 8- put the yellow packet in the organizer 9- drop candy into organizer Q: next 5 steps? \u003cPRED\u003eA: 1- organize the white sugar packets in the tray 2- drop candy into organizer 3- drop candy into organizer 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: organize the white sugar packets in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: organize the white sugar packets in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- organize the brown sugar packets in the tray 2- drop candy into organizer 3- put the sugar packet in the organizer 4- drop candy into organizer 5- put the pink packet in the organizer 6- put the pink packet in the organizer 7- drop candy into organizer 8- put the yellow packet in the organizer 9- drop candy into organizer Q: immediate next step? \u003cPRED\u003eA: organize the white sugar packets in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\norganize the white sugar packets in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: organize the white sugar packets in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\norganize the white sugar packets in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5000505244574468480.mp4"}
+{"uid":"4508596509096712464","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: organize the pink sugar packets in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- organize the brown sugar packets in the tray 2- drop candy into organizer 3- put the sugar packet in the organizer 4- drop candy into organizer 5- put the pink packet in the organizer 6- put the pink packet in the organizer 7- drop candy into organizer Q: next 5 steps? \u003cPRED\u003eA: 1- organize the pink sugar packets in the tray 2- drop candy into organizer 3- drop candy into organizer 4- drop candy into organizer 5- put the yellow packet in the organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\norganize the pink sugar packets in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- organize the brown sugar packets in the tray 2- drop candy into organizer 3- put the sugar packet in the organizer 4- drop candy into organizer 5- put the pink packet in the organizer 6- put the pink packet in the organizer 7- drop candy into organizer Q: immediate next step? \u003cPRED\u003eA: organize the pink sugar packets in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: organize the pink sugar packets in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: organize the pink sugar packets in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\norganize the pink sugar packets in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2441494137061578899.mp4"}
+{"uid":"14807970285976257493","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move arm downward\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: move arm downward\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove arm downward Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- organize the brown sugar packets in the tray 2- drop candy into organizer 3- put the sugar packet in the organizer 4- drop candy into organizer 5- put the pink packet in the organizer 6- put the pink packet in the organizer 7- drop candy into organizer 8- put the yellow packet in the organizer Q: immediate next step? \u003cPRED\u003eA: move arm downward\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove arm downward Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move arm downward\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- organize the brown sugar packets in the tray 2- drop candy into organizer 3- put the sugar packet in the organizer 4- drop candy into organizer 5- put the pink packet in the organizer 6- put the pink packet in the organizer 7- drop candy into organizer 8- put the yellow packet in the organizer Q: next 5 steps? \u003cPRED\u003eA: 1- move arm downward 2- drop candy into organizer 3- drop candy into organizer 4- put the yellow packet in the organizer 5- drop candy into organizer\n\u003c/PRED\u003e","video":"12042909631718792345.mp4"}
+{"uid":"1542068295513353907","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the glasses in a stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17368886541594689964.mp4"}
+{"uid":"9740925292994972240","text":"\u003ctask:success:discrete:False\u003e\norganize the  brown sugar packets in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: organize the  brown sugar packets in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- organize the brown sugar packets in the tray Q: immediate next step? \u003cPRED\u003eA: organize the  brown sugar packets in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: organize the  brown sugar packets in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: organize the  brown sugar packets in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- organize the brown sugar packets in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- organize the  brown sugar packets in the tray 2- put the pink packet in the organizer 3- put the pink packet in the organizer 4- drop candy into organizer 5- put the yellow packet in the organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\norganize the  brown sugar packets in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17128521009988959563.mp4"}
+{"uid":"16517115836988742795","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop candy into organizer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: drop candy into organizer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- drop candy into organizer 2- drop candy into organizer 3- put the sugar packet in the organizer 4- drop candy into organizer 5- put the pink packet in the organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop candy into organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: drop candy into organizer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop candy into organizer\n\u003c/PRED\u003e","video":"17345279584322429629.mp4"}
+{"uid":"15205652788575663631","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: drop candy into organizer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- organize the brown sugar packets in the tray 2- drop candy into organizer 3- put the sugar packet in the organizer 4- drop candy into organizer 5- put the pink packet in the organizer 6- put the pink packet in the organizer 7- drop candy into organizer 8- put the yellow packet in the organizer 9- drop candy into organizer Q: immediate next step? \u003cPRED\u003eA: drop candy into organizer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop candy into organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop candy into organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- organize the brown sugar packets in the tray 2- drop candy into organizer 3- put the sugar packet in the organizer 4- drop candy into organizer 5- put the pink packet in the organizer 6- put the pink packet in the organizer 7- drop candy into organizer 8- put the yellow packet in the organizer 9- drop candy into organizer Q: next 5 steps? \u003cPRED\u003eA: 1- drop candy into organizer 2- drop candy into organizer 3- put the yellow packet in the organizer 4- drop candy into organizer 5- drop candy into organizer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop candy into organizer\n\u003c/PRED\u003e","video":"7071970553445839751.mp4"}
+{"uid":"9092407677919274083","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the yellow packet in the organizer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: put the yellow packet in the organizer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- organize the brown sugar packets in the tray 2- drop candy into organizer 3- put the sugar packet in the organizer 4- drop candy into organizer 5- put the pink packet in the organizer 6- put the pink packet in the organizer 7- drop candy into organizer 8- put the yellow packet in the organizer 9- drop candy into organizer 10- drop candy into organizer 11- drop candy into organizer Q: next 5 steps? \u003cPRED\u003eA: 1- put the yellow packet in the organizer 2- drop candy into organizer 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- organize the brown sugar packets in the tray 2- drop candy into organizer 3- put the sugar packet in the organizer 4- drop candy into organizer 5- put the pink packet in the organizer 6- put the pink packet in the organizer 7- drop candy into organizer 8- put the yellow packet in the organizer 9- drop candy into organizer 10- drop candy into organizer 11- drop candy into organizer Q: immediate next step? \u003cPRED\u003eA: put the yellow packet in the organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the yellow packet in the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the yellow packet in the organizer\n\u003c/PRED\u003e","video":"322352133071117399.mp4"}
+{"uid":"3418949337914757690","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop candy into organizer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- organize the brown sugar packets in the tray 2- drop candy into organizer 3- put the sugar packet in the organizer 4- drop candy into organizer 5- put the pink packet in the organizer 6- put the pink packet in the organizer 7- drop candy into organizer 8- put the yellow packet in the organizer 9- drop candy into organizer 10- drop candy into organizer Q: immediate next step? \u003cPRED\u003eA: drop candy into organizer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- organize the brown sugar packets in the tray 2- drop candy into organizer 3- put the sugar packet in the organizer 4- drop candy into organizer 5- put the pink packet in the organizer 6- put the pink packet in the organizer 7- drop candy into organizer 8- put the yellow packet in the organizer 9- drop candy into organizer 10- drop candy into organizer Q: next 5 steps? \u003cPRED\u003eA: 1- drop candy into organizer 2- put the yellow packet in the organizer 3- drop candy into organizer 4- drop candy into organizer 5- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop candy into organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop candy into organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: drop candy into organizer\n\u003c/PRED\u003e","video":"9455605674420781664.mp4"}
+{"uid":"7631601731463408932","text":"\u003ctask:success:discrete:True\u003e\ndrop candy into organizer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop candy into organizer\n\u003c/PRED\u003e","video":"17179267938934788046.mp4"}
+{"uid":"17553697562309225108","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the kite shape object in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12219549414468722436.mp4"}
+{"uid":"5625013922258299224","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the toy into the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13093295929443495614.mp4"}
+{"uid":"17234597366187158764","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop candy into organizer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop candy into organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop candy into organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop candy into organizer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: drop candy into organizer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- organize the brown sugar packets in the tray 2- drop candy into organizer 3- put the sugar packet in the organizer 4- drop candy into organizer 5- put the pink packet in the organizer 6- put the pink packet in the organizer 7- drop candy into organizer 8- put the yellow packet in the organizer 9- drop candy into organizer 10- drop candy into organizer 11- drop candy into organizer Q: next 5 steps? \u003cPRED\u003eA: 1- drop candy into organizer 2- drop candy into organizer 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- organize the brown sugar packets in the tray 2- drop candy into organizer 3- put the sugar packet in the organizer 4- drop candy into organizer 5- put the pink packet in the organizer 6- put the pink packet in the organizer 7- drop candy into organizer 8- put the yellow packet in the organizer 9- drop candy into organizer 10- drop candy into organizer 11- drop candy into organizer Q: immediate next step? \u003cPRED\u003eA: drop candy into organizer\n\u003c/PRED\u003e","video":"17185062530737218313.mp4"}
+{"uid":"16253696489127564157","text":"\u003ctask:success:discrete:True\u003e\ndrop the candy into organizer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the candy into organizer\n\u003c/PRED\u003e","video":"18157420482751107662.mp4"}
+{"uid":"8950290539587209769","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the candy into organizer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- organize the brown sugar packets in the tray 2- drop candy into organizer 3- put the sugar packet in the organizer 4- drop candy into organizer Q: immediate next step? \u003cPRED\u003eA: drop the candy into organizer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: drop the candy into organizer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the candy into organizer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- organize the brown sugar packets in the tray 2- drop candy into organizer 3- put the sugar packet in the organizer 4- drop candy into organizer Q: next 5 steps? \u003cPRED\u003eA: 1- drop the candy into organizer 2- put the yellow packet in the organizer 3- drop candy into organizer 4- drop candy into organizer 5- drop candy into organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the candy into organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the candy into organizer\n\u003c/PRED\u003e","video":"15303132072754849326.mp4"}
+{"uid":"15133581936272179888","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: organize the yellow sugar packets in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\norganize the yellow sugar packets in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15830295202399777012.mp4"}
+{"uid":"311925760572505167","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop candy into organizer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop candy into organizer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"734877653638719638.mp4"}
+{"uid":"2595564785457551320","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: close gripper\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: close gripper\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: close gripper\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- close gripper 2- drop candy into organizer 3- put the sugar packet in the organizer 4- drop candy into organizer 5- put the pink packet in the organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nclose gripper Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: close gripper\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nclose gripper Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14534979373805692851.mp4"}
+{"uid":"14616928587550252514","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13121440567231924891.mp4"}
+{"uid":"9111577850389662125","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: organize the pink sugar packets in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- organize the brown sugar packets in the tray 2- drop candy into organizer 3- put the sugar packet in the organizer 4- drop candy into organizer 5- put the pink packet in the organizer Q: immediate next step? \u003cPRED\u003eA: organize the pink sugar packets in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: organize the pink sugar packets in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- organize the brown sugar packets in the tray 2- drop candy into organizer 3- put the sugar packet in the organizer 4- drop candy into organizer 5- put the pink packet in the organizer Q: next 5 steps? \u003cPRED\u003eA: 1- organize the pink sugar packets in the tray 2- drop candy into organizer 3- put the yellow packet in the organizer 4- drop candy into organizer 5- drop candy into organizer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: organize the pink sugar packets in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\norganize the pink sugar packets in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16695600034756586464.mp4"}
+{"uid":"30531250384665667","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the sugar packet in the organizer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the sugar packet in the organizer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- organize the brown sugar packets in the tray 2- drop candy into organizer Q: next 5 steps? \u003cPRED\u003eA: 1- put the sugar packet in the organizer 2- put the pink packet in the organizer 3- put the pink packet in the organizer 4- drop candy into organizer 5- put the yellow packet in the organizer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: put the sugar packet in the organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the sugar packet in the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the sugar packet in the organizer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- organize the brown sugar packets in the tray 2- drop candy into organizer Q: immediate next step? \u003cPRED\u003eA: put the sugar packet in the organizer\n\u003c/PRED\u003e","video":"10036471164459695019.mp4"}
+{"uid":"8665313649894837078","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop candy into organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop candy into organizer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- organize the brown sugar packets in the tray 2- drop candy into organizer Q: next 5 steps? \u003cPRED\u003eA: 1- drop candy into organizer 2- put the pink packet in the organizer 3- put the pink packet in the organizer 4- drop candy into organizer 5- put the yellow packet in the organizer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop candy into organizer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- organize the brown sugar packets in the tray 2- drop candy into organizer Q: immediate next step? \u003cPRED\u003eA: drop candy into organizer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop candy into organizer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: drop candy into organizer\n\u003c/PRED\u003e","video":"11544846803304989512.mp4"}
+{"uid":"11759082664239758453","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the pear on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3943971037069803248.mp4"}
+{"uid":"1120842939462168209","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- organize the brown sugar packets in the tray 2- drop candy into organizer 3- put the sugar packet in the organizer 4- drop candy into organizer 5- put the pink packet in the organizer 6- put the pink packet in the organizer 7- drop candy into organizer 8- put the yellow packet in the organizer 9- drop candy into organizer 10- drop candy into organizer 11- drop candy into organizer 12- put the yellow packet in the organizer 13- put the green packets in the organizer Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the green packets in the organizer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the green packets in the organizer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- organize the brown sugar packets in the tray 2- drop candy into organizer 3- put the sugar packet in the organizer 4- drop candy into organizer 5- put the pink packet in the organizer 6- put the pink packet in the organizer 7- drop candy into organizer 8- put the yellow packet in the organizer 9- drop candy into organizer 10- drop candy into organizer 11- drop candy into organizer 12- put the yellow packet in the organizer 13- put the green packets in the organizer Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"11140677180476972449.mp4"}
+{"uid":"8744838957663877663","text":"\u003ctask:success:discrete:True\u003e\ndrop candy into organizer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop candy into organizer\n\u003c/PRED\u003e","video":"12047679290261550272.mp4"}
+{"uid":"7091191104453365040","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nopen the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5562094654218596896.mp4"}
+{"uid":"5668559362221416416","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- organize the brown sugar packets in the tray 2- drop candy into organizer 3- put the sugar packet in the organizer 4- drop candy into organizer 5- put the pink packet in the organizer Q: immediate next step? \u003cPRED\u003eA: put the pink packet in the organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the pink packet in the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: put the pink packet in the organizer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- organize the brown sugar packets in the tray 2- drop candy into organizer 3- put the sugar packet in the organizer 4- drop candy into organizer 5- put the pink packet in the organizer Q: next 5 steps? \u003cPRED\u003eA: 1- put the pink packet in the organizer 2- put the yellow packet in the organizer 3- drop candy into organizer 4- drop candy into organizer 5- drop candy into organizer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the pink packet in the organizer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pink packet in the organizer\n\u003c/PRED\u003e","video":"2256270071203675961.mp4"}
+{"uid":"12159199575667391423","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut candy in red bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10069868130954269177.mp4"}
+{"uid":"6595405594775140933","text":"\u003ctask:success:discrete:False\u003e\nput the green packet in the organizer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- organize the brown sugar packets in the tray 2- drop candy into organizer 3- put the sugar packet in the organizer 4- drop candy into organizer 5- put the pink packet in the organizer 6- put the pink packet in the organizer 7- drop candy into organizer 8- put the yellow packet in the organizer 9- drop candy into organizer 10- drop candy into organizer 11- drop candy into organizer 12- put the yellow packet in the organizer 13- drop candy into organizer Q: immediate next step? \u003cPRED\u003eA: put the green packet in the organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the green packet in the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the green packet in the organizer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- organize the brown sugar packets in the tray 2- drop candy into organizer 3- put the sugar packet in the organizer 4- drop candy into organizer 5- put the pink packet in the organizer 6- put the pink packet in the organizer 7- drop candy into organizer 8- put the yellow packet in the organizer 9- drop candy into organizer 10- drop candy into organizer 11- drop candy into organizer 12- put the yellow packet in the organizer 13- drop candy into organizer Q: next 5 steps? \u003cPRED\u003eA: 1- put the green packet in the organizer 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: put the green packet in the organizer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the green packet in the organizer\n\u003c/PRED\u003e","video":"3377665886124683281.mp4"}
+{"uid":"16292566024232327192","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace that pear on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2225616825066457915.mp4"}
+{"uid":"6409734690629188668","text":"\u003ctask:success:discrete:True\u003e\ndrop candy into organizer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop candy into organizer\n\u003c/PRED\u003e","video":"12481758111278414944.mp4"}
+{"uid":"10737738381369744762","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput blue book in shelf Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13375477185807762357.mp4"}
+{"uid":"5530550512272154906","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput red pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10948490851611754963.mp4"}
+{"uid":"2856347776803826390","text":"\u003ctask:success:discrete:True\u003e\norganize the brown sugar packets in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: organize the brown sugar packets in the tray\n\u003c/PRED\u003e","video":"3653570176044341839.mp4"}
+{"uid":"2240553843243101864","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pink packet in the organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the pink packet in the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the pink packet in the organizer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- organize the brown sugar packets in the tray 2- drop candy into organizer 3- put the sugar packet in the organizer Q: immediate next step? \u003cPRED\u003eA: put the pink packet in the organizer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: put the pink packet in the organizer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the pink packet in the organizer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- organize the brown sugar packets in the tray 2- drop candy into organizer 3- put the sugar packet in the organizer Q: next 5 steps? \u003cPRED\u003eA: 1- put the pink packet in the organizer 2- put the pink packet in the organizer 3- put the pink packet in the organizer 4- drop candy into organizer 5- put the yellow packet in the organizer\n\u003c/PRED\u003e","video":"6411727941414427509.mp4"}
+{"uid":"8485274373271579120","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the candy into tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11857913013672350093.mp4"}
+{"uid":"5939256863223459593","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the sugar packet in the organizer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- organize the brown sugar packets in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put the sugar packet in the organizer 2- put the sugar packet in the organizer 3- drop candy into organizer 4- put the pink packet in the organizer 5- put the pink packet in the organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the sugar packet in the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- organize the brown sugar packets in the tray Q: immediate next step? \u003cPRED\u003eA: put the sugar packet in the organizer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: put the sugar packet in the organizer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the sugar packet in the organizer\n\u003c/PRED\u003e","video":"5544846458465000681.mp4"}
+{"uid":"5472825790417489674","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the yellow packet in the organizer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- organize the brown sugar packets in the tray 2- drop candy into organizer 3- put the sugar packet in the organizer 4- drop candy into organizer 5- put the pink packet in the organizer 6- put the pink packet in the organizer 7- drop candy into organizer 8- put the yellow packet in the organizer 9- drop candy into organizer Q: next 5 steps? \u003cPRED\u003eA: 1- put the yellow packet in the organizer 2- put the yellow packet in the organizer 3- drop candy into organizer 4- drop candy into organizer 5- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: put the yellow packet in the organizer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the yellow packet in the organizer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the yellow packet in the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the yellow packet in the organizer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- organize the brown sugar packets in the tray 2- drop candy into organizer 3- put the sugar packet in the organizer 4- drop candy into organizer 5- put the pink packet in the organizer 6- put the pink packet in the organizer 7- drop candy into organizer 8- put the yellow packet in the organizer 9- drop candy into organizer Q: immediate next step? \u003cPRED\u003eA: put the yellow packet in the organizer\n\u003c/PRED\u003e","video":"5174334825203236907.mp4"}
+{"uid":"2631486699672341782","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the spoon into glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10277422537319553223.mp4"}
+{"uid":"4957670013295207337","text":"\u003ctask:success:discrete:False\u003e\norganize the green sugar packets in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\norganize the green sugar packets in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- organize the brown sugar packets in the tray 2- drop candy into organizer 3- put the sugar packet in the organizer 4- drop candy into organizer 5- put the pink packet in the organizer 6- put the pink packet in the organizer 7- drop candy into organizer 8- put the yellow packet in the organizer 9- drop candy into organizer 10- drop candy into organizer 11- drop candy into organizer Q: next 5 steps? \u003cPRED\u003eA: 1- organize the green sugar packets in the tray 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: organize the green sugar packets in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: organize the green sugar packets in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: organize the green sugar packets in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- organize the brown sugar packets in the tray 2- drop candy into organizer 3- put the sugar packet in the organizer 4- drop candy into organizer 5- put the pink packet in the organizer 6- put the pink packet in the organizer 7- drop candy into organizer 8- put the yellow packet in the organizer 9- drop candy into organizer 10- drop candy into organizer 11- drop candy into organizer Q: immediate next step? \u003cPRED\u003eA: organize the green sugar packets in the tray\n\u003c/PRED\u003e","video":"14932913450266102016.mp4"}
+{"uid":"3651802567368530996","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: organize the yellow sugar packets in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\norganize the yellow sugar packets in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: organize the yellow sugar packets in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\norganize the yellow sugar packets in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: organize the yellow sugar packets in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- organize the brown sugar packets in the tray 2- drop candy into organizer 3- put the sugar packet in the organizer 4- drop candy into organizer 5- put the pink packet in the organizer 6- put the pink packet in the organizer 7- drop candy into organizer Q: next 5 steps? \u003cPRED\u003eA: 1- organize the yellow sugar packets in the tray 2- drop candy into organizer 3- put the yellow packet in the organizer 4- drop candy into organizer 5- drop candy into organizer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- organize the brown sugar packets in the tray 2- drop candy into organizer 3- put the sugar packet in the organizer 4- drop candy into organizer 5- put the pink packet in the organizer 6- put the pink packet in the organizer 7- drop candy into organizer Q: immediate next step? \u003cPRED\u003eA: organize the yellow sugar packets in the tray\n\u003c/PRED\u003e","video":"26870908038887495.mp4"}
+{"uid":"17064484063828189405","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop candy into organizer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop candy into organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop candy into organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: drop candy into organizer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- drop candy into organizer 2- put the sugar packet in the organizer 3- drop candy into organizer 4- put the pink packet in the organizer 5- put the pink packet in the organizer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: drop candy into organizer\n\u003c/PRED\u003e","video":"3619599796773810445.mp4"}
+{"uid":"3337830532173270136","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: organize the pink sugar packets in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\norganize the pink sugar packets in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17385334615326820252.mp4"}
+{"uid":"9532416108945556565","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut pista in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13479450369189962628.mp4"}
+{"uid":"13729437313385369240","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nGrasp the orange snack packet Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14557760631360774505.mp4"}
+{"uid":"8989904147655014920","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put the sugar packet in the organizer 2- drop candy into organizer 3- put the sugar packet in the organizer 4- drop candy into organizer 5- put the pink packet in the organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the sugar packet in the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the sugar packet in the organizer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: put the sugar packet in the organizer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the sugar packet in the organizer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put the sugar packet in the organizer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the sugar packet in the organizer\n\u003c/PRED\u003e","video":"9813361415862834311.mp4"}
+{"uid":"9481007254114072211","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop candy into organizer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop candy into organizer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6184333703626238146.mp4"}
+{"uid":"13887320004645736668","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: organize the  brown sugar packets in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\norganize the  brown sugar packets in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"576965179688715422.mp4"}
+{"uid":"16783876569869584786","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nOpen the left leaf of the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17946969103578017802.mp4"}
+{"uid":"12109448235242884885","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the candy in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7264607002205123347.mp4"}
+{"uid":"13506724390285655223","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop candy into organizer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop candy into organizer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5934957210761836741.mp4"}
+{"uid":"11395798726557323882","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: organize the pink sugar packets in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- organize the brown sugar packets in the tray 2- drop candy into organizer 3- put the sugar packet in the organizer Q: next 5 steps? \u003cPRED\u003eA: 1- organize the pink sugar packets in the tray 2- drop candy into organizer 3- put the yellow packet in the organizer 4- drop candy into organizer 5- drop candy into organizer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: organize the pink sugar packets in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- organize the brown sugar packets in the tray 2- drop candy into organizer 3- put the sugar packet in the organizer Q: immediate next step? \u003cPRED\u003eA: organize the pink sugar packets in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: organize the pink sugar packets in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\norganize the pink sugar packets in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\norganize the pink sugar packets in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14090577001405113695.mp4"}
+{"uid":"122721439991212948","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the blue candy in the right side tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11903946270006615961.mp4"}
+{"uid":"564355984458987005","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop candy into organizer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop candy into organizer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2465869219811155071.mp4"}
+{"uid":"17307072365970023950","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the pistachio in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4284706261434851032.mp4"}
+{"uid":"6709432243464726580","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3507431835254232244.mp4"}
+{"uid":"7826968113646371400","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the green packets in the organizer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- organize the brown sugar packets in the tray 2- drop candy into organizer 3- put the sugar packet in the organizer 4- drop candy into organizer 5- put the pink packet in the organizer 6- put the pink packet in the organizer 7- drop candy into organizer 8- put the yellow packet in the organizer 9- drop candy into organizer 10- drop candy into organizer 11- drop candy into organizer 12- put the yellow packet in the organizer Q: next 5 steps? \u003cPRED\u003eA: 1- put the green packets in the organizer 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the green packets in the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- organize the brown sugar packets in the tray 2- drop candy into organizer 3- put the sugar packet in the organizer 4- drop candy into organizer 5- put the pink packet in the organizer 6- put the pink packet in the organizer 7- drop candy into organizer 8- put the yellow packet in the organizer 9- drop candy into organizer 10- drop candy into organizer 11- drop candy into organizer 12- put the yellow packet in the organizer Q: immediate next step? \u003cPRED\u003eA: put the green packets in the organizer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: put the green packets in the organizer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the green packets in the organizer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the green packets in the organizer\n\u003c/PRED\u003e","video":"12249598107421232351.mp4"}
+{"uid":"13518183756934273549","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the brown cover into the dustbin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11862884892792215983.mp4"}
+{"uid":"17200659610278028356","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- organize the brown sugar packets in the tray 2- drop candy into organizer 3- put the sugar packet in the organizer 4- drop candy into organizer 5- put the pink packet in the organizer 6- put the pink packet in the organizer 7- drop candy into organizer 8- put the yellow packet in the organizer 9- drop candy into organizer 10- drop candy into organizer 11- drop candy into organizer 12- put the yellow packet in the organizer 13- drop candy into organizer 14- drop candy into organizer Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop candy into organizer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop candy into organizer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- organize the brown sugar packets in the tray 2- drop candy into organizer 3- put the sugar packet in the organizer 4- drop candy into organizer 5- put the pink packet in the organizer 6- put the pink packet in the organizer 7- drop candy into organizer 8- put the yellow packet in the organizer 9- drop candy into organizer 10- drop candy into organizer 11- drop candy into organizer 12- put the yellow packet in the organizer 13- drop candy into organizer 14- drop candy into organizer Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"11885954211017669510.mp4"}
+{"uid":"10649147466101924690","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14960367455316213209.mp4"}
+{"uid":"3608957228781444709","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput tray on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3573105236838245180.mp4"}
+{"uid":"14076141094474252408","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick the yellow marker Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"984619034460037949.mp4"}
+{"uid":"12515253930787529580","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- organize the brown sugar packets in the tray 2- drop candy into organizer 3- put the sugar packet in the organizer 4- drop candy into organizer 5- put the pink packet in the organizer 6- put the pink packet in the organizer 7- drop candy into organizer 8- put the yellow packet in the organizer 9- drop candy into organizer 10- drop candy into organizer 11- drop candy into organizer 12- put the yellow packet in the organizer 13- drop candy into organizer Q: immediate next step? \u003cPRED\u003eA: drop candy into organizer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: drop candy into organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop candy into organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop candy into organizer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- organize the brown sugar packets in the tray 2- drop candy into organizer 3- put the sugar packet in the organizer 4- drop candy into organizer 5- put the pink packet in the organizer 6- put the pink packet in the organizer 7- drop candy into organizer 8- put the yellow packet in the organizer 9- drop candy into organizer 10- drop candy into organizer 11- drop candy into organizer 12- put the yellow packet in the organizer 13- drop candy into organizer Q: next 5 steps? \u003cPRED\u003eA: 1- drop candy into organizer 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop candy into organizer\n\u003c/PRED\u003e","video":"8782239671368076325.mp4"}
+{"uid":"12982948803282936193","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16729038903329528853.mp4"}
+{"uid":"4192117247575280087","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: put the yellow packet in the organizer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the yellow packet in the organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the yellow packet in the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- organize the brown sugar packets in the tray 2- drop candy into organizer 3- put the sugar packet in the organizer 4- drop candy into organizer 5- put the pink packet in the organizer 6- put the pink packet in the organizer 7- drop candy into organizer 8- put the yellow packet in the organizer 9- drop candy into organizer 10- drop candy into organizer Q: next 5 steps? \u003cPRED\u003eA: 1- put the yellow packet in the organizer 2- put the yellow packet in the organizer 3- drop candy into organizer 4- drop candy into organizer 5- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the yellow packet in the organizer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- organize the brown sugar packets in the tray 2- drop candy into organizer 3- put the sugar packet in the organizer 4- drop candy into organizer 5- put the pink packet in the organizer 6- put the pink packet in the organizer 7- drop candy into organizer 8- put the yellow packet in the organizer 9- drop candy into organizer 10- drop candy into organizer Q: immediate next step? \u003cPRED\u003eA: put the yellow packet in the organizer\n\u003c/PRED\u003e","video":"13597104905173213415.mp4"}
+{"uid":"17953709553040813760","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput candy in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13226074339602333384.mp4"}
+{"uid":"15416553205294087755","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pen in the trolley Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10350115218132437534.mp4"}
+{"uid":"17362459463739460809","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nArrange the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1128968129036097350.mp4"}
+{"uid":"15135127241723036131","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up the can from the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3565661797275927645.mp4"}
+{"uid":"13874727878207608766","text":"\u003ctask:success:discrete:False\u003e\nput the yellow packet in the organizer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- organize the brown sugar packets in the tray 2- drop candy into organizer 3- put the sugar packet in the organizer 4- drop candy into organizer 5- put the pink packet in the organizer 6- put the pink packet in the organizer 7- drop candy into organizer 8- put the yellow packet in the organizer Q: next 5 steps? \u003cPRED\u003eA: 1- put the yellow packet in the organizer 2- drop candy into organizer 3- drop candy into organizer 4- put the yellow packet in the organizer 5- drop candy into organizer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the yellow packet in the organizer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the yellow packet in the organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the yellow packet in the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: put the yellow packet in the organizer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- organize the brown sugar packets in the tray 2- drop candy into organizer 3- put the sugar packet in the organizer 4- drop candy into organizer 5- put the pink packet in the organizer 6- put the pink packet in the organizer 7- drop candy into organizer 8- put the yellow packet in the organizer Q: immediate next step? \u003cPRED\u003eA: put the yellow packet in the organizer\n\u003c/PRED\u003e","video":"1013768309020632669.mp4"}
+{"uid":"14294220777188158256","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack the glasses Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15877190009470568766.mp4"}
+{"uid":"12967017682473397577","text":"\u003ctask:success:discrete:True\u003e\ndrop candy into organizer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop candy into organizer\n\u003c/PRED\u003e","video":"17384147385773315186.mp4"}
+{"uid":"11385810286679264624","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the zip lock packet into the cardboard box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6425436707579887642.mp4"}
+{"uid":"2961545103019488711","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: move arm upward\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move arm upward\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: move arm upward\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move arm upward\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove arm upward Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove arm upward Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- move arm upward 2- drop candy into organizer 3- put the sugar packet in the organizer 4- drop candy into organizer 5- put the pink packet in the organizer\n\u003c/PRED\u003e","video":"10389509540996838420.mp4"}
+{"uid":"16209207302042313865","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop candy into organizer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: drop candy into organizer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop candy into organizer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: drop candy into organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop candy into organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- drop candy into organizer 2- drop candy into organizer 3- put the sugar packet in the organizer 4- drop candy into organizer 5- put the pink packet in the organizer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop candy into organizer\n\u003c/PRED\u003e","video":"9655129188358664108.mp4"}
+{"uid":"17581987376294091099","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: organize the white sugar packets in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\norganize the white sugar packets in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12639920814697304170.mp4"}
+{"uid":"12266606770755195455","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: organize the green sugar packets in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- organize the brown sugar packets in the tray 2- drop candy into organizer 3- put the sugar packet in the organizer 4- drop candy into organizer 5- put the pink packet in the organizer 6- put the pink packet in the organizer 7- drop candy into organizer 8- put the yellow packet in the organizer 9- drop candy into organizer 10- drop candy into organizer 11- drop candy into organizer 12- organize the green sugar packets in the tray Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- organize the brown sugar packets in the tray 2- drop candy into organizer 3- put the sugar packet in the organizer 4- drop candy into organizer 5- put the pink packet in the organizer 6- put the pink packet in the organizer 7- drop candy into organizer 8- put the yellow packet in the organizer 9- drop candy into organizer 10- drop candy into organizer 11- drop candy into organizer 12- organize the green sugar packets in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\norganize the green sugar packets in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"3162611134848230507.mp4"}
+{"uid":"12843716409388301103","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- organize the brown sugar packets in the tray 2- drop candy into organizer 3- put the sugar packet in the organizer 4- drop candy into organizer 5- put the pink packet in the organizer 6- put the pink packet in the organizer Q: next 5 steps? \u003cPRED\u003eA: 1- put the pink packet in the organizer 2- put the yellow packet in the organizer 3- drop candy into organizer 4- drop candy into organizer 5- drop candy into organizer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pink packet in the organizer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- organize the brown sugar packets in the tray 2- drop candy into organizer 3- put the sugar packet in the organizer 4- drop candy into organizer 5- put the pink packet in the organizer 6- put the pink packet in the organizer Q: immediate next step? \u003cPRED\u003eA: put the pink packet in the organizer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the pink packet in the organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the pink packet in the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: put the pink packet in the organizer\n\u003c/PRED\u003e","video":"18340434241770987274.mp4"}
+{"uid":"15822252538199072083","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the apple on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7362842088743338271.mp4"}
+{"uid":"1419459534163438208","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the brown packet in basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7098234075463884602.mp4"}
+{"uid":"10639584791527456667","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop candy into organizer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop candy into organizer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13658268663432446962.mp4"}
+{"uid":"7719299282579305532","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the battery in the charger Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17502684583992145206.mp4"}
+{"uid":"13126904686418642413","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pink packet in the organizer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the pink packet in the organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the pink packet in the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- organize the brown sugar packets in the tray 2- drop candy into organizer 3- put the sugar packet in the organizer 4- drop candy into organizer Q: immediate next step? \u003cPRED\u003eA: put the pink packet in the organizer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: put the pink packet in the organizer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- organize the brown sugar packets in the tray 2- drop candy into organizer 3- put the sugar packet in the organizer 4- drop candy into organizer Q: next 5 steps? \u003cPRED\u003eA: 1- put the pink packet in the organizer 2- put the pink packet in the organizer 3- drop candy into organizer 4- put the yellow packet in the organizer 5- drop candy into organizer\n\u003c/PRED\u003e","video":"15888237995678445890.mp4"}
+{"uid":"5319059742910661701","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\narrange the chair Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5452338741613669992.mp4"}
+{"uid":"1703070853090390848","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nkeep up the coffee cup straight on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6272943321487752530.mp4"}
+{"uid":"10172813084801136967","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput another toffee in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7051023145272677873.mp4"}
+{"uid":"13660116452826579645","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: move items from table to cart Q: immediate next step? \u003cPRED\u003eA: Go to the right side black table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: move items from table to cart. last 20 steps: 1- Pick up the blue box from the table 2- Place the blue box on the black table 3- Go to the left side table 4- Move your arm to the pen 5- Pick up the pen from the table 6- Move to the right side black table 7- Place the pen on the black table 8- Go to the laptop charger on the left side table 9- Pick up the laptop charger from the table Q: immediate next step? \u003cPRED\u003eA: Go to the right side black table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Go to the right side black table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: move items from table to cart. last 20 steps: 1- Pick up the blue box from the table 2- Place the blue box on the black table 3- Go to the left side table 4- Move your arm to the pen 5- Pick up the pen from the table 6- Move to the right side black table 7- Place the pen on the black table 8- Go to the laptop charger on the left side table 9- Pick up the laptop charger from the table Q: next 5 steps? \u003cPRED\u003eA: 1- Go to the right side black table 2- Place the laptop charger on the black table 3- Move towards the yellow packet on the table 4- Lift the yellow packet from the table 5- move to the right side black table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nGo to the right side black table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Go to the right side black table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nGo to the right side black table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13840875867093698242.mp4"}
+{"uid":"15622683904071496278","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the blue box from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the blue box from the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: move items from table to cart. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Pick up the blue box from the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: move items from table to cart. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the blue box from the table 2- Place the blue box on the black table 3- Go to the left side table 4- Move your arm to the pen 5- Pick up the pen from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the blue box from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: move items from table to cart Q: immediate next step? \u003cPRED\u003eA: Pick up the blue box from the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the blue box from the table\n\u003c/PRED\u003e","video":"15162663038130970503.mp4"}
+{"uid":"3441330773297242936","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack the glass on the another glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4064694712620082489.mp4"}
+{"uid":"13780717140122923611","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the white sachet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9055565486251943494.mp4"}
+{"uid":"7267346396012407205","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: push in all the chairs in denali confrence room. last 20 steps: 1- Move robot the other room 2- arrange the chair under the table 3- adjust the chair Q: immediate next step? \u003cPRED\u003eA: arrange the chair under the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: push in all the chairs in denali confrence room Q: immediate next step? \u003cPRED\u003eA: arrange the chair under the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: push in all the chairs in denali confrence room. last 20 steps: 1- Move robot the other room 2- arrange the chair under the table 3- adjust the chair Q: next 5 steps? \u003cPRED\u003eA: 1- arrange the chair under the table 2- adjust the chair 3- adjust the chair 4- adjust the chair 5- adjust the chair\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: arrange the chair under the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\narrange the chair under the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: arrange the chair under the table\n\u003c/PRED\u003e","video":"8064270979335893245.mp4"}
+{"uid":"12945151989000282197","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the packet in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17727828712038004020.mp4"}
+{"uid":"12339583606791272766","text":"\u003ctask:success:discrete:True\u003e\nPick up the laptop charger from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Pick up the laptop charger from the table\n\u003c/PRED\u003e","video":"14375448391764187429.mp4"}
+{"uid":"15447413929744771681","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move the chair inside\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove the chair inside Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: push in all the chairs in denali confrence room Q: immediate next step? \u003cPRED\u003eA: Move the chair inside\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove the chair inside Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: push in all the chairs in denali confrence room. last 20 steps: 1- Move robot the other room 2- arrange the chair under the table 3- adjust the chair 4- adjust the chair 5- adjust the chair 6- adjust the chair 7- adjust the chair Q: next 5 steps? \u003cPRED\u003eA: 1- Move the chair inside 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move the chair inside\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: push in all the chairs in denali confrence room. last 20 steps: 1- Move robot the other room 2- arrange the chair under the table 3- adjust the chair 4- adjust the chair 5- adjust the chair 6- adjust the chair 7- adjust the chair Q: immediate next step? \u003cPRED\u003eA: Move the chair inside\n\u003c/PRED\u003e","video":"17953421300984090854.mp4"}
+{"uid":"860130880597264952","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10697701065165259611.mp4"}
+{"uid":"3372146799163581407","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: move items from table to cart Q: immediate next step? \u003cPRED\u003eA: Move your arm to the pen\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove your arm to the pen Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move your arm to the pen\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: move items from table to cart. last 20 steps: 1- Pick up the blue box from the table 2- Place the blue box on the black table 3- Go to the left side table Q: next 5 steps? \u003cPRED\u003eA: 1- Move your arm to the pen 2- Pick up the pen from the table 3- Move to the right side black table 4- Place the pen on the black table 5- Go to the laptop charger on the left side table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: move items from table to cart. last 20 steps: 1- Pick up the blue box from the table 2- Place the blue box on the black table 3- Go to the left side table Q: immediate next step? \u003cPRED\u003eA: Move your arm to the pen\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move your arm to the pen\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove your arm to the pen Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11734290811212045745.mp4"}
+{"uid":"12697251274071659270","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput fork in holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9014131745677615356.mp4"}
+{"uid":"9355960437015266782","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nTurn to the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4545883844558411983.mp4"}
+{"uid":"2269021541519746383","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: adjust the chair\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nadjust the chair Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: adjust the chair\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: push in all the chairs in denali confrence room. last 20 steps: 1- Move robot the other room 2- arrange the chair under the table 3- adjust the chair 4- adjust the chair 5- adjust the chair 6- adjust the chair 7- adjust the chair Q: next 5 steps? \u003cPRED\u003eA: 1- adjust the chair 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: push in all the chairs in denali confrence room. last 20 steps: 1- Move robot the other room 2- arrange the chair under the table 3- adjust the chair 4- adjust the chair 5- adjust the chair 6- adjust the chair 7- adjust the chair Q: immediate next step? \u003cPRED\u003eA: adjust the chair\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: push in all the chairs in denali confrence room Q: immediate next step? \u003cPRED\u003eA: adjust the chair\n\u003c/PRED\u003e","video":"14071566723426463767.mp4"}
+{"uid":"11404015490176393363","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nadjust the chair Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: push in all the chairs in denali confrence room. last 20 steps: 1- Move robot the other room 2- arrange the chair under the table 3- adjust the chair Q: next 5 steps? \u003cPRED\u003eA: 1- adjust the chair 2- adjust the chair 3- adjust the chair 4- adjust the chair 5- adjust the chair\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: push in all the chairs in denali confrence room. last 20 steps: 1- Move robot the other room 2- arrange the chair under the table 3- adjust the chair Q: immediate next step? \u003cPRED\u003eA: adjust the chair\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: adjust the chair\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: push in all the chairs in denali confrence room Q: immediate next step? \u003cPRED\u003eA: adjust the chair\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: adjust the chair\n\u003c/PRED\u003e","video":"1697477520316740872.mp4"}
+{"uid":"7137426901165101350","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nMove other chair inside Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: push in all the chairs in denali confrence room Q: immediate next step? \u003cPRED\u003eA: Move other chair inside\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: push in all the chairs in denali confrence room. last 20 steps: 1- Move robot the other room 2- arrange the chair under the table Q: immediate next step? \u003cPRED\u003eA: Move other chair inside\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: push in all the chairs in denali confrence room. last 20 steps: 1- Move robot the other room 2- arrange the chair under the table Q: next 5 steps? \u003cPRED\u003eA: 1- Move other chair inside 2- adjust the chair 3- adjust the chair 4- adjust the chair 5- adjust the chair\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move other chair inside\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move other chair inside\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove other chair inside Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8975647083904456134.mp4"}
+{"uid":"13543938256621883030","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: adjust the chair\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: push in all the chairs in denali confrence room. last 20 steps: 1- Move robot the other room 2- arrange the chair under the table 3- adjust the chair 4- adjust the chair 5- adjust the chair Q: next 5 steps? \u003cPRED\u003eA: 1- adjust the chair 2- adjust the chair 3- adjust the chair 4- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: adjust the chair\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: push in all the chairs in denali confrence room. last 20 steps: 1- Move robot the other room 2- arrange the chair under the table 3- adjust the chair 4- adjust the chair 5- adjust the chair Q: immediate next step? \u003cPRED\u003eA: adjust the chair\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: push in all the chairs in denali confrence room Q: immediate next step? \u003cPRED\u003eA: adjust the chair\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nadjust the chair Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12238548688026926827.mp4"}
+{"uid":"1543995791277822094","text":"\u003ctask:success:discrete:False\u003e\nPut the yellow packet on the black table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the yellow packet on the black table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: move items from table to cart. last 20 steps: 1- Pick up the blue box from the table 2- Place the blue box on the black table 3- Go to the left side table 4- Move your arm to the pen 5- Pick up the pen from the table 6- Move to the right side black table 7- Place the pen on the black table 8- Go to the laptop charger on the left side table 9- Pick up the laptop charger from the table 10- Go to the right side black table 11- Place the laptop charger on the black table 12- Move towards the yellow packet on the table 13- Lift the yellow packet from the table 14- move to the right side black table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the yellow packet on the black table 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the yellow packet on the black table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the yellow packet on the black table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: move items from table to cart. last 20 steps: 1- Pick up the blue box from the table 2- Place the blue box on the black table 3- Go to the left side table 4- Move your arm to the pen 5- Pick up the pen from the table 6- Move to the right side black table 7- Place the pen on the black table 8- Go to the laptop charger on the left side table 9- Pick up the laptop charger from the table 10- Go to the right side black table 11- Place the laptop charger on the black table 12- Move towards the yellow packet on the table 13- Lift the yellow packet from the table 14- move to the right side black table Q: immediate next step? \u003cPRED\u003eA: Put the yellow packet on the black table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: move items from table to cart Q: immediate next step? \u003cPRED\u003eA: Put the yellow packet on the black table\n\u003c/PRED\u003e","video":"14198723514186050988.mp4"}
+{"uid":"11198630081869973237","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: push in all the chairs in denali confrence room. last 20 steps: 1- Move robot the other room 2- arrange the chair under the table 3- adjust the chair 4- adjust the chair Q: next 5 steps? \u003cPRED\u003eA: 1- Move a chair inside 2- adjust the chair 3- adjust the chair 4- adjust the chair 5- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move a chair inside\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: push in all the chairs in denali confrence room. last 20 steps: 1- Move robot the other room 2- arrange the chair under the table 3- adjust the chair 4- adjust the chair Q: immediate next step? \u003cPRED\u003eA: Move a chair inside\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove a chair inside Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove a chair inside Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: push in all the chairs in denali confrence room Q: immediate next step? \u003cPRED\u003eA: Move a chair inside\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move a chair inside\n\u003c/PRED\u003e","video":"10422817734062453248.mp4"}
+{"uid":"6468760060661457466","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: move items from table to cart Q: immediate next step? \u003cPRED\u003eA: Lift the yellow packet from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nLift the yellow packet from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Lift the yellow packet from the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: move items from table to cart. last 20 steps: 1- Pick up the blue box from the table 2- Place the blue box on the black table 3- Go to the left side table 4- Move your arm to the pen 5- Pick up the pen from the table 6- Move to the right side black table 7- Place the pen on the black table 8- Go to the laptop charger on the left side table 9- Pick up the laptop charger from the table 10- Go to the right side black table 11- Place the laptop charger on the black table 12- Move towards the yellow packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Lift the yellow packet from the table 2- move to the right side black table 3- Put the yellow packet on the black table 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Lift the yellow packet from the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nLift the yellow packet from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: move items from table to cart. last 20 steps: 1- Pick up the blue box from the table 2- Place the blue box on the black table 3- Go to the left side table 4- Move your arm to the pen 5- Pick up the pen from the table 6- Move to the right side black table 7- Place the pen on the black table 8- Go to the laptop charger on the left side table 9- Pick up the laptop charger from the table 10- Go to the right side black table 11- Place the laptop charger on the black table 12- Move towards the yellow packet on the table Q: immediate next step? \u003cPRED\u003eA: Lift the yellow packet from the table\n\u003c/PRED\u003e","video":"8398294088325844236.mp4"}
+{"uid":"4036416639834679152","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the trident box on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15935405775172277704.mp4"}
+{"uid":"4137361946539958257","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the laptop charger from the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: move items from table to cart. last 20 steps: 1- Pick up the blue box from the table 2- Place the blue box on the black table 3- Go to the left side table 4- Move your arm to the pen 5- Pick up the pen from the table 6- Move to the right side black table 7- Place the pen on the black table 8- Go to the laptop charger on the left side table Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the laptop charger from the table 2- Go to the right side black table 3- Place the laptop charger on the black table 4- Move towards the yellow packet on the table 5- Lift the yellow packet from the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the laptop charger from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the laptop charger from the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: move items from table to cart Q: immediate next step? \u003cPRED\u003eA: Pick up the laptop charger from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the laptop charger from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: move items from table to cart. last 20 steps: 1- Pick up the blue box from the table 2- Place the blue box on the black table 3- Go to the left side table 4- Move your arm to the pen 5- Pick up the pen from the table 6- Move to the right side black table 7- Place the pen on the black table 8- Go to the laptop charger on the left side table Q: immediate next step? \u003cPRED\u003eA: Pick up the laptop charger from the table\n\u003c/PRED\u003e","video":"16981105405590906026.mp4"}
+{"uid":"5608528136423608","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop fork into glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16036871614540042940.mp4"}
+{"uid":"13478677275611384184","text":"\u003ctask:success:discrete:True\u003e\nMove other chair inside Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Move other chair inside\n\u003c/PRED\u003e","video":"6015096007380323381.mp4"}
+{"uid":"17028370591996255365","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nMove a chair inside Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove a chair inside Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move a chair inside\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: push in all the chairs in denali confrence room Q: immediate next step? \u003cPRED\u003eA: Move a chair inside\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move a chair inside\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: push in all the chairs in denali confrence room. last 20 steps: 1- Move robot the other room 2- arrange the chair under the table 3- adjust the chair Q: next 5 steps? \u003cPRED\u003eA: 1- Move a chair inside 2- adjust the chair 3- adjust the chair 4- adjust the chair 5- adjust the chair\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: push in all the chairs in denali confrence room. last 20 steps: 1- Move robot the other room 2- arrange the chair under the table 3- adjust the chair Q: immediate next step? \u003cPRED\u003eA: Move a chair inside\n\u003c/PRED\u003e","video":"7577530147834555503.mp4"}
+{"uid":"3540765865256184496","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up the left blue pen Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8870396033536425928.mp4"}
+{"uid":"5718178767752173800","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Please toss the cereal into the trash Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput paper bowl in the dust bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put paper bowl in the dust bin\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please toss the cereal into the trash. last 20 steps: 1- put paper bowl in the dust bin Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please toss the cereal into the trash. last 20 steps: 1- put paper bowl in the dust bin Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"17322218079525238557.mp4"}
+{"uid":"5795760046163738794","text":"\u003ctask:success:discrete:True\u003e\narrange the chair under the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: arrange the chair under the table\n\u003c/PRED\u003e","video":"12921963815384293690.mp4"}
+{"uid":"1698437090190714688","text":"\u003ctask:success:discrete:False\u003e\nPick up the pen from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the pen from the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the pen from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: move items from table to cart. last 20 steps: 1- Pick up the blue box from the table 2- Place the blue box on the black table 3- Go to the left side table 4- Move your arm to the pen Q: immediate next step? \u003cPRED\u003eA: Pick up the pen from the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the pen from the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: move items from table to cart. last 20 steps: 1- Pick up the blue box from the table 2- Place the blue box on the black table 3- Go to the left side table 4- Move your arm to the pen Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the pen from the table 2- Move to the right side black table 3- Place the pen on the black table 4- Go to the laptop charger on the left side table 5- Pick up the laptop charger from the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: move items from table to cart Q: immediate next step? \u003cPRED\u003eA: Pick up the pen from the table\n\u003c/PRED\u003e","video":"9355253078542794023.mp4"}
+{"uid":"16417338861199689574","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\narrange the chair under the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\narrange the chair under the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: push in all the chairs in denali confrence room. last 20 steps: 1- Move robot the other room Q: next 5 steps? \u003cPRED\u003eA: 1- arrange the chair under the table 2- adjust the chair 3- adjust the chair 4- adjust the chair 5- adjust the chair\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: arrange the chair under the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: push in all the chairs in denali confrence room Q: immediate next step? \u003cPRED\u003eA: arrange the chair under the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: arrange the chair under the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: push in all the chairs in denali confrence room. last 20 steps: 1- Move robot the other room Q: immediate next step? \u003cPRED\u003eA: arrange the chair under the table\n\u003c/PRED\u003e","video":"156448307370956785.mp4"}
+{"uid":"2430160420311867884","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the hexagonal block in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8520516396500361711.mp4"}
+{"uid":"17965349004441513712","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move towards the yellow packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove towards the yellow packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move towards the yellow packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: move items from table to cart. last 20 steps: 1- Pick up the blue box from the table 2- Place the blue box on the black table 3- Go to the left side table 4- Move your arm to the pen 5- Pick up the pen from the table 6- Move to the right side black table 7- Place the pen on the black table 8- Go to the laptop charger on the left side table 9- Pick up the laptop charger from the table 10- Go to the right side black table 11- Place the laptop charger on the black table Q: immediate next step? \u003cPRED\u003eA: Move towards the yellow packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: move items from table to cart Q: immediate next step? \u003cPRED\u003eA: Move towards the yellow packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove towards the yellow packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: move items from table to cart. last 20 steps: 1- Pick up the blue box from the table 2- Place the blue box on the black table 3- Go to the left side table 4- Move your arm to the pen 5- Pick up the pen from the table 6- Move to the right side black table 7- Place the pen on the black table 8- Go to the laptop charger on the left side table 9- Pick up the laptop charger from the table 10- Go to the right side black table 11- Place the laptop charger on the black table Q: next 5 steps? \u003cPRED\u003eA: 1- Move towards the yellow packet on the table 2- Lift the yellow packet from the table 3- move to the right side black table 4- Put the yellow packet on the black table 5- done\n\u003c/PRED\u003e","video":"6736464239940242645.mp4"}
+{"uid":"916866396762243941","text":"\u003ctask:success:discrete:True\u003e\nadjust the chair Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: adjust the chair\n\u003c/PRED\u003e","video":"6237977246146521984.mp4"}
+{"uid":"7266848166413797930","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pen into the pen stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1238082064498322204.mp4"}
+{"uid":"3871594862762061151","text":"\u003ctask:success:discrete:False\u003e\nArrange the chair Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Arrange the chair\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: push in all the chairs in denali confrence room. last 20 steps: 1- Move robot the other room 2- arrange the chair under the table 3- adjust the chair 4- adjust the chair 5- adjust the chair 6- adjust the chair Q: next 5 steps? \u003cPRED\u003eA: 1- Arrange the chair 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: push in all the chairs in denali confrence room. last 20 steps: 1- Move robot the other room 2- arrange the chair under the table 3- adjust the chair 4- adjust the chair 5- adjust the chair 6- adjust the chair Q: immediate next step? \u003cPRED\u003eA: Arrange the chair\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: push in all the chairs in denali confrence room Q: immediate next step? \u003cPRED\u003eA: Arrange the chair\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nArrange the chair Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Arrange the chair\n\u003c/PRED\u003e","video":"10414217103375972179.mp4"}
+{"uid":"7930494304530069424","text":"\u003ctask:success:discrete:True\u003e\nadjust the chair Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: adjust the chair\n\u003c/PRED\u003e","video":"13206341776543565728.mp4"}
+{"uid":"1196759815030938965","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the sticky note in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8840585916982716655.mp4"}
+{"uid":"12456317983659552442","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: arrange the chair under the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\narrange the chair under the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: push in all the chairs in denali confrence room. last 20 steps: 1- Move robot the other room 2- arrange the chair under the table 3- adjust the chair 4- adjust the chair 5- adjust the chair 6- adjust the chair 7- adjust the chair Q: immediate next step? \u003cPRED\u003eA: arrange the chair under the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\narrange the chair under the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: push in all the chairs in denali confrence room. last 20 steps: 1- Move robot the other room 2- arrange the chair under the table 3- adjust the chair 4- adjust the chair 5- adjust the chair 6- adjust the chair 7- adjust the chair Q: next 5 steps? \u003cPRED\u003eA: 1- arrange the chair under the table 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: arrange the chair under the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: push in all the chairs in denali confrence room Q: immediate next step? \u003cPRED\u003eA: arrange the chair under the table\n\u003c/PRED\u003e","video":"14871044047956063549.mp4"}
+{"uid":"13830866052732941828","text":"\u003ctask:success:discrete:True\u003e\nadjust the chair Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: push in all the chairs in denali confrence room. last 20 steps: 1- Move robot the other room 2- arrange the chair under the table 3- adjust the chair 4- adjust the chair 5- adjust the chair 6- adjust the chair 7- adjust the chair 8- adjust the chair Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: adjust the chair\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: push in all the chairs in denali confrence room. last 20 steps: 1- Move robot the other room 2- arrange the chair under the table 3- adjust the chair 4- adjust the chair 5- adjust the chair 6- adjust the chair 7- adjust the chair 8- adjust the chair Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: push in all the chairs in denali confrence room Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"574605711773410163.mp4"}
+{"uid":"226299446380003127","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: push in all the chairs in denali confrence room Q: immediate next step? \u003cPRED\u003eA: Move chair inside\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove chair inside Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove chair inside Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: push in all the chairs in denali confrence room. last 20 steps: 1- Move robot the other room Q: immediate next step? \u003cPRED\u003eA: Move chair inside\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move chair inside\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: push in all the chairs in denali confrence room. last 20 steps: 1- Move robot the other room Q: next 5 steps? \u003cPRED\u003eA: 1- Move chair inside 2- adjust the chair 3- adjust the chair 4- adjust the chair 5- adjust the chair\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move chair inside\n\u003c/PRED\u003e","video":"6365942888187302432.mp4"}
+{"uid":"6852511015541228845","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the green can in the fridge Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15984866892312137933.mp4"}
+{"uid":"17739758803190211186","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: push in all the chairs in denali confrence room Q: immediate next step? \u003cPRED\u003eA: adjust the chair\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: push in all the chairs in denali confrence room. last 20 steps: 1- Move robot the other room 2- arrange the chair under the table 3- adjust the chair 4- adjust the chair 5- adjust the chair 6- adjust the chair Q: next 5 steps? \u003cPRED\u003eA: 1- adjust the chair 2- adjust the chair 3- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: adjust the chair\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: push in all the chairs in denali confrence room. last 20 steps: 1- Move robot the other room 2- arrange the chair under the table 3- adjust the chair 4- adjust the chair 5- adjust the chair 6- adjust the chair Q: immediate next step? \u003cPRED\u003eA: adjust the chair\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: adjust the chair\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nadjust the chair Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3189873426948738108.mp4"}
+{"uid":"14171609701663649803","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: move items from table to cart. last 20 steps: 1- Pick up the blue box from the table 2- Place the blue box on the black table 3- Go to the left side table 4- Move your arm to the pen 5- Pick up the pen from the table 6- Move to the right side black table 7- Place the pen on the black table 8- Go to the laptop charger on the left side table 9- Pick up the laptop charger from the table 10- Go to the right side black table Q: next 5 steps? \u003cPRED\u003eA: 1- Place the laptop charger on the black table 2- Move towards the yellow packet on the table 3- Lift the yellow packet from the table 4- move to the right side black table 5- Put the yellow packet on the black table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the laptop charger on the black table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the laptop charger on the black table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the laptop charger on the black table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the laptop charger on the black table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: move items from table to cart Q: immediate next step? \u003cPRED\u003eA: Place the laptop charger on the black table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: move items from table to cart. last 20 steps: 1- Pick up the blue box from the table 2- Place the blue box on the black table 3- Go to the left side table 4- Move your arm to the pen 5- Pick up the pen from the table 6- Move to the right side black table 7- Place the pen on the black table 8- Go to the laptop charger on the left side table 9- Pick up the laptop charger from the table 10- Go to the right side black table Q: immediate next step? \u003cPRED\u003eA: Place the laptop charger on the black table\n\u003c/PRED\u003e","video":"12810291122157800019.mp4"}
+{"uid":"10408307731810039887","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: arrange the chair under the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\narrange the chair under the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10476039147645954636.mp4"}
+{"uid":"2392754051444791831","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: arrange the chair under the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: arrange the chair under the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\narrange the chair under the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: push in all the chairs in denali confrence room. last 20 steps: 1- Move robot the other room 2- arrange the chair under the table Q: next 5 steps? \u003cPRED\u003eA: 1- arrange the chair under the table 2- adjust the chair 3- adjust the chair 4- adjust the chair 5- adjust the chair\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: push in all the chairs in denali confrence room Q: immediate next step? \u003cPRED\u003eA: arrange the chair under the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: push in all the chairs in denali confrence room. last 20 steps: 1- Move robot the other room 2- arrange the chair under the table Q: immediate next step? \u003cPRED\u003eA: arrange the chair under the table\n\u003c/PRED\u003e","video":"615692086035054524.mp4"}
+{"uid":"16321599048007771815","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput candy in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9175795223203342737.mp4"}
+{"uid":"12133362125123987349","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\narrange the chair under the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: push in all the chairs in denali confrence room. last 20 steps: 1- Move robot the other room 2- arrange the chair under the table 3- adjust the chair 4- adjust the chair 5- adjust the chair Q: immediate next step? \u003cPRED\u003eA: arrange the chair under the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: push in all the chairs in denali confrence room. last 20 steps: 1- Move robot the other room 2- arrange the chair under the table 3- adjust the chair 4- adjust the chair 5- adjust the chair Q: next 5 steps? \u003cPRED\u003eA: 1- arrange the chair under the table 2- adjust the chair 3- adjust the chair 4- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: push in all the chairs in denali confrence room Q: immediate next step? \u003cPRED\u003eA: arrange the chair under the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: arrange the chair under the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: arrange the chair under the table\n\u003c/PRED\u003e","video":"5319280035676947384.mp4"}
+{"uid":"1616597600215405268","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove the blue cable into the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5950788634390084166.mp4"}
+{"uid":"8271280764852596391","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the alphabetic tile in the pouch Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17552337254396490875.mp4"}
+{"uid":"2599843081099721889","text":"\u003ctask:success:discrete:True\u003e\nMove chair inside Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Move chair inside\n\u003c/PRED\u003e","video":"12936794748974257983.mp4"}
+{"uid":"6524923850549386897","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up the holder from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8925728659857044826.mp4"}
+{"uid":"3183480325452258503","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the wet wipes packet in the trolley Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5556001125787795862.mp4"}
+{"uid":"15196625192394991028","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nopen the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8342217163515474908.mp4"}
+{"uid":"6160523929382547022","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: arrange the chair under the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\narrange the chair under the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5197890634806384264.mp4"}
+{"uid":"9895328063202245193","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10992548090857763002.mp4"}
+{"uid":"4451299187157584643","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput packet in organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11051909965887461194.mp4"}
+{"uid":"15195939192118520050","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the banana in the white bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3575242707667733309.mp4"}
+{"uid":"8431867561806533966","text":"\u003ctask:success:discrete:False\u003e\nPlace the blue box on the black table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the blue box on the black table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: move items from table to cart. last 20 steps: 1- Pick up the blue box from the table Q: immediate next step? \u003cPRED\u003eA: Place the blue box on the black table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the blue box on the black table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: move items from table to cart Q: immediate next step? \u003cPRED\u003eA: Place the blue box on the black table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: move items from table to cart. last 20 steps: 1- Pick up the blue box from the table Q: next 5 steps? \u003cPRED\u003eA: 1- Place the blue box on the black table 2- Go to the left side table 3- Move your arm to the pen 4- Pick up the pen from the table 5- Move to the right side black table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the blue box on the black table\n\u003c/PRED\u003e","video":"14056102109451327271.mp4"}
+{"uid":"17450652720437041030","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the pen on the black table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the pen on the black table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: move items from table to cart. last 20 steps: 1- Pick up the blue box from the table 2- Place the blue box on the black table 3- Go to the left side table 4- Move your arm to the pen 5- Pick up the pen from the table 6- Move to the right side black table Q: next 5 steps? \u003cPRED\u003eA: 1- Place the pen on the black table 2- Go to the laptop charger on the left side table 3- Pick up the laptop charger from the table 4- Go to the right side black table 5- Place the laptop charger on the black table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: move items from table to cart Q: immediate next step? \u003cPRED\u003eA: Place the pen on the black table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the pen on the black table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the pen on the black table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: move items from table to cart. last 20 steps: 1- Pick up the blue box from the table 2- Place the blue box on the black table 3- Go to the left side table 4- Move your arm to the pen 5- Pick up the pen from the table 6- Move to the right side black table Q: immediate next step? \u003cPRED\u003eA: Place the pen on the black table\n\u003c/PRED\u003e","video":"14192201385488843947.mp4"}
+{"uid":"10246504344236892603","text":"\u003ctask:success:discrete:True\u003e\nenter the room Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: enter the room\n\u003c/PRED\u003e","video":"4529995682022061010.mp4"}
+{"uid":"18042924502723975548","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put paper bowl in the dust bin\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please toss the cereal into the trash. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put paper bowl in the dust bin 2- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput paper bowl in the dust bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put paper bowl in the dust bin\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please toss the cereal into the trash. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put paper bowl in the dust bin\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please toss the cereal into the trash Q: immediate next step? \u003cPRED\u003eA: put paper bowl in the dust bin\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput paper bowl in the dust bin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8740164360001494881.mp4"}
+{"uid":"9099820423745323083","text":"\u003ctask:success:discrete:False\u003e\narrange the chair under the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: push in all the chairs in denali confrence room. last 20 steps: 1- Move robot the other room 2- arrange the chair under the table 3- adjust the chair 4- adjust the chair Q: next 5 steps? \u003cPRED\u003eA: 1- arrange the chair under the table 2- adjust the chair 3- adjust the chair 4- adjust the chair 5- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: push in all the chairs in denali confrence room Q: immediate next step? \u003cPRED\u003eA: arrange the chair under the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\narrange the chair under the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: arrange the chair under the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: push in all the chairs in denali confrence room. last 20 steps: 1- Move robot the other room 2- arrange the chair under the table 3- adjust the chair 4- adjust the chair Q: immediate next step? \u003cPRED\u003eA: arrange the chair under the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: arrange the chair under the table\n\u003c/PRED\u003e","video":"15592251771952496240.mp4"}
+{"uid":"13832037319903020684","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the orange glass in drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16578540046642856860.mp4"}
+{"uid":"8485267283412538958","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput brown packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1462433468300859843.mp4"}
+{"uid":"10289922395171118464","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the blue candy in the white tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13147985832458923070.mp4"}
+{"uid":"4972695298119517667","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nadjust the chair Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nadjust the chair Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: push in all the chairs in denali confrence room. last 20 steps: 1- Move robot the other room 2- arrange the chair under the table 3- adjust the chair 4- adjust the chair Q: next 5 steps? \u003cPRED\u003eA: 1- adjust the chair 2- adjust the chair 3- adjust the chair 4- adjust the chair 5- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: push in all the chairs in denali confrence room Q: immediate next step? \u003cPRED\u003eA: adjust the chair\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: push in all the chairs in denali confrence room. last 20 steps: 1- Move robot the other room 2- arrange the chair under the table 3- adjust the chair 4- adjust the chair Q: immediate next step? \u003cPRED\u003eA: adjust the chair\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: adjust the chair\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: adjust the chair\n\u003c/PRED\u003e","video":"6358344576204045982.mp4"}
+{"uid":"8354551397566220515","text":"\u003ctask:success:discrete:True\u003e\nadjust the chair Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: push in all the chairs in denali confrence room. last 20 steps: 1- Move robot the other room 2- arrange the chair under the table Q: next 5 steps? \u003cPRED\u003eA: 1- adjust the chair 2- adjust the chair 3- adjust the chair 4- adjust the chair 5- adjust the chair\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nadjust the chair Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: adjust the chair\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: adjust the chair\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: push in all the chairs in denali confrence room. last 20 steps: 1- Move robot the other room 2- arrange the chair under the table Q: immediate next step? \u003cPRED\u003eA: adjust the chair\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: push in all the chairs in denali confrence room Q: immediate next step? \u003cPRED\u003eA: adjust the chair\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: adjust the chair\n\u003c/PRED\u003e","video":"17895366071518295814.mp4"}
+{"uid":"7687420442736268966","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: adjust the chair\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nadjust the chair Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1605675774507665117.mp4"}
+{"uid":"10792458848741671379","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove to the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11071604125302632417.mp4"}
+{"uid":"5784768426310641590","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: move items from table to cart. last 20 steps: 1- Pick up the blue box from the table 2- Place the blue box on the black table 3- Go to the left side table 4- Move your arm to the pen 5- Pick up the pen from the table 6- Move to the right side black table 7- Place the pen on the black table Q: immediate next step? \u003cPRED\u003eA: Go to the laptop charger on the left side table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: move items from table to cart. last 20 steps: 1- Pick up the blue box from the table 2- Place the blue box on the black table 3- Go to the left side table 4- Move your arm to the pen 5- Pick up the pen from the table 6- Move to the right side black table 7- Place the pen on the black table Q: next 5 steps? \u003cPRED\u003eA: 1- Go to the laptop charger on the left side table 2- Pick up the laptop charger from the table 3- Go to the right side black table 4- Place the laptop charger on the black table 5- Move towards the yellow packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nGo to the laptop charger on the left side table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nGo to the laptop charger on the left side table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Go to the laptop charger on the left side table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Go to the laptop charger on the left side table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: move items from table to cart Q: immediate next step? \u003cPRED\u003eA: Go to the laptop charger on the left side table\n\u003c/PRED\u003e","video":"6378482912253253946.mp4"}
+{"uid":"14162430654462694741","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput banana in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11182012651853491670.mp4"}
+{"uid":"9086745102123372260","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the pistachio in a cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8320032400926185749.mp4"}
+{"uid":"8377653495903931172","text":"\u003ctask:success:discrete:True\u003e\nMove the chair inside Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Move the chair inside\n\u003c/PRED\u003e","video":"14306881979534686799.mp4"}
+{"uid":"2758828971803745812","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the green packet on the right side second table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6608343541798957400.mp4"}
+{"uid":"2981613541962842666","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the black pebble into the left transparent glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10842259261778757357.mp4"}
+{"uid":"4082558566316430141","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: move items from table to cart. last 20 steps: 1- Pick up the blue box from the table 2- Place the blue box on the black table Q: next 5 steps? \u003cPRED\u003eA: 1- Go to the left side table 2- Move your arm to the pen 3- Pick up the pen from the table 4- Move to the right side black table 5- Place the pen on the black table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Go to the left side table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nGo to the left side table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nGo to the left side table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: move items from table to cart Q: immediate next step? \u003cPRED\u003eA: Go to the left side table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Go to the left side table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: move items from table to cart. last 20 steps: 1- Pick up the blue box from the table 2- Place the blue box on the black table Q: immediate next step? \u003cPRED\u003eA: Go to the left side table\n\u003c/PRED\u003e","video":"13846966066313658981.mp4"}
+{"uid":"16843990092844898044","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: move items from table to cart. last 20 steps: 1- Pick up the blue box from the table 2- Place the blue box on the black table 3- Go to the left side table 4- Move your arm to the pen 5- Pick up the pen from the table 6- Move to the right side black table 7- Place the pen on the black table 8- Go to the laptop charger on the left side table 9- Pick up the laptop charger from the table 10- Go to the right side black table 11- Place the laptop charger on the black table 12- Move towards the yellow packet on the table 13- Lift the yellow packet from the table Q: next 5 steps? \u003cPRED\u003eA: 1- move to the right side black table 2- Put the yellow packet on the black table 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move to the right side black table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: move items from table to cart Q: immediate next step? \u003cPRED\u003eA: move to the right side black table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: move items from table to cart. last 20 steps: 1- Pick up the blue box from the table 2- Place the blue box on the black table 3- Go to the left side table 4- Move your arm to the pen 5- Pick up the pen from the table 6- Move to the right side black table 7- Place the pen on the black table 8- Go to the laptop charger on the left side table 9- Pick up the laptop charger from the table 10- Go to the right side black table 11- Place the laptop charger on the black table 12- Move towards the yellow packet on the table 13- Lift the yellow packet from the table Q: immediate next step? \u003cPRED\u003eA: move to the right side black table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove to the right side black table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move to the right side black table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove to the right side black table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6333390900876401452.mp4"}
+{"uid":"7082909905285753331","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput blue pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4157966007136629809.mp4"}
+{"uid":"12611528830406093733","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nMove to the right side black table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: move items from table to cart. last 20 steps: 1- Pick up the blue box from the table 2- Place the blue box on the black table 3- Go to the left side table 4- Move your arm to the pen 5- Pick up the pen from the table Q: immediate next step? \u003cPRED\u003eA: Move to the right side black table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: move items from table to cart. last 20 steps: 1- Pick up the blue box from the table 2- Place the blue box on the black table 3- Go to the left side table 4- Move your arm to the pen 5- Pick up the pen from the table Q: next 5 steps? \u003cPRED\u003eA: 1- Move to the right side black table 2- Place the pen on the black table 3- Go to the laptop charger on the left side table 4- Pick up the laptop charger from the table 5- Go to the right side black table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove to the right side black table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move to the right side black table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move to the right side black table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: move items from table to cart Q: immediate next step? \u003cPRED\u003eA: Move to the right side black table\n\u003c/PRED\u003e","video":"8455660905867579215.mp4"}
+{"uid":"4001581862343907327","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace gel packets in door packets Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1318226942365999419.mp4"}
+{"uid":"2538254254349315694","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the fork in holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12728270014642078396.mp4"}
+{"uid":"18034353740576670951","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace numi bag in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5401654676829883396.mp4"}
+{"uid":"3563961305979706444","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nMove the chair inside Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove the chair inside Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: push in all the chairs in denali confrence room Q: immediate next step? \u003cPRED\u003eA: Move the chair inside\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: push in all the chairs in denali confrence room. last 20 steps: 1- Move robot the other room 2- arrange the chair under the table 3- adjust the chair 4- adjust the chair 5- adjust the chair Q: immediate next step? \u003cPRED\u003eA: Move the chair inside\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move the chair inside\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move the chair inside\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: push in all the chairs in denali confrence room. last 20 steps: 1- Move robot the other room 2- arrange the chair under the table 3- adjust the chair 4- adjust the chair 5- adjust the chair Q: next 5 steps? \u003cPRED\u003eA: 1- Move the chair inside 2- adjust the chair 3- done\n\u003c/PRED\u003e","video":"1050675953135855208.mp4"}
+{"uid":"18328110622757992882","text":"\u003ctask:success:discrete:True\u003e\nMove robot the other room Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Move robot the other room\n\u003c/PRED\u003e","video":"8045673798089362654.mp4"}
+{"uid":"6215739059425390426","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: push in all the chairs in denali confrence room. last 20 steps: 1- Move robot the other room Q: immediate next step? \u003cPRED\u003eA: adjust the chair\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nadjust the chair Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nadjust the chair Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: push in all the chairs in denali confrence room Q: immediate next step? \u003cPRED\u003eA: adjust the chair\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: adjust the chair\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: adjust the chair\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: push in all the chairs in denali confrence room. last 20 steps: 1- Move robot the other room Q: next 5 steps? \u003cPRED\u003eA: 1- adjust the chair 2- adjust the chair 3- adjust the chair 4- adjust the chair 5- adjust the chair\n\u003c/PRED\u003e","video":"15115151067241419449.mp4"}
+{"uid":"6347944108231205020","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nunstack the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5060696767596893461.mp4"}
+{"uid":"14655515417863461006","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the orange marker in the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the orange marker in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the orange marker in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the highlighters in the tin. last 20 steps: 1- Put yellow marker in the pen holder 2- Put blue  marker in the pen holder Q: immediate next step? \u003cPRED\u003eA: Put the orange marker in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the orange marker in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the highlighters in the tin. Q: immediate next step? \u003cPRED\u003eA: Put the orange marker in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the highlighters in the tin. last 20 steps: 1- Put yellow marker in the pen holder 2- Put blue  marker in the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- Put the orange marker in the holder 2- Put yellow marker in the pen holder 3- Put blue marker in the pen holder 4- place green marker in the empty holder 5- Pick up green marker\n\u003c/PRED\u003e","video":"11658189532719130405.mp4"}
+{"uid":"15969891134243273235","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nunstack the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12603411725657261978.mp4"}
+{"uid":"13257635740479246582","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nslightly push the trolley Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9478517656797751587.mp4"}
+{"uid":"365637438811324500","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place yellow marker in the empty holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the highlighters in the tin. Q: immediate next step? \u003cPRED\u003eA: place yellow marker in the empty holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the highlighters in the tin. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place yellow marker in the empty holder 2- Put blue  marker in the pen holder 3- Put orange marker in the pen holder 4- Put yellow marker in the pen holder 5- Put blue marker in the pen holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the highlighters in the tin. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place yellow marker in the empty holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace yellow marker in the empty holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place yellow marker in the empty holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace yellow marker in the empty holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"35399768746695312.mp4"}
+{"uid":"516649720541406295","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place yellow marker in the empty holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace yellow marker in the empty holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"782678285520824065.mp4"}
+{"uid":"3865872202623252842","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the blue marker in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the blue marker in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the blue marker in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the highlighters in the tin. last 20 steps: 1- Put yellow marker in the pen holder 2- Put blue  marker in the pen holder 3- Put orange marker in the pen holder 4- Put yellow marker in the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- Put the blue marker in the holder 2- place green marker in the empty holder 3- Pick up green marker 4- Put green marker in the pen  holder 5- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the highlighters in the tin. Q: immediate next step? \u003cPRED\u003eA: Put the blue marker in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the highlighters in the tin. last 20 steps: 1- Put yellow marker in the pen holder 2- Put blue  marker in the pen holder 3- Put orange marker in the pen holder 4- Put yellow marker in the pen holder Q: immediate next step? \u003cPRED\u003eA: Put the blue marker in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the blue marker in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7113890781131710950.mp4"}
+{"uid":"11798036477053798050","text":"\u003ctask:success:discrete:True\u003e\nplace orange marker in the empty holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place orange marker in the empty holder\n\u003c/PRED\u003e","video":"14572643670879175455.mp4"}
+{"uid":"9852263536927553982","text":"\u003ctask:success:discrete:True\u003e\npick green marker from thr floor Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick green marker from thr floor\n\u003c/PRED\u003e","video":"17747683587653346238.mp4"}
+{"uid":"7780252834864246562","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the white packet into the brown tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15961447165094898940.mp4"}
+{"uid":"10843833253014586784","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place green marker in the empty holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the highlighters in the tin. last 20 steps: 1- Put yellow marker in the pen holder 2- Put blue  marker in the pen holder 3- Put orange marker in the pen holder 4- Put yellow marker in the pen holder 5- Put blue marker in the pen holder Q: immediate next step? \u003cPRED\u003eA: place green marker in the empty holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace green marker in the empty holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace green marker in the empty holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place green marker in the empty holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the highlighters in the tin. Q: immediate next step? \u003cPRED\u003eA: place green marker in the empty holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the highlighters in the tin. last 20 steps: 1- Put yellow marker in the pen holder 2- Put blue  marker in the pen holder 3- Put orange marker in the pen holder 4- Put yellow marker in the pen holder 5- Put blue marker in the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- place green marker in the empty holder 2- Pick up green marker 3- Put green marker in the pen  holder 4- done\n\u003c/PRED\u003e","video":"4985886120940591146.mp4"}
+{"uid":"11956943107478905677","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put yellow marker in the pen holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the highlighters in the tin. last 20 steps: 1- Put yellow marker in the pen holder 2- Put blue  marker in the pen holder 3- Put orange marker in the pen holder Q: immediate next step? \u003cPRED\u003eA: Put yellow marker in the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut yellow marker in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the highlighters in the tin. Q: immediate next step? \u003cPRED\u003eA: Put yellow marker in the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut yellow marker in the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put yellow marker in the pen holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the highlighters in the tin. last 20 steps: 1- Put yellow marker in the pen holder 2- Put blue  marker in the pen holder 3- Put orange marker in the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- Put yellow marker in the pen holder 2- Put blue marker in the pen holder 3- place green marker in the empty holder 4- Pick up green marker 5- Put green marker in the pen  holder\n\u003c/PRED\u003e","video":"1980430228889861404.mp4"}
+{"uid":"4666018987177765171","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put the highlighters in the tin. Q: immediate next step? \u003cPRED\u003eA: Pick up the green marker from the floor\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the green marker from the floor Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the green marker from the floor\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the highlighters in the tin. last 20 steps: 1- Put yellow marker in the pen holder 2- Put blue  marker in the pen holder 3- Put orange marker in the pen holder 4- Put yellow marker in the pen holder 5- Put blue marker in the pen holder 6- place green marker in the empty holder Q: immediate next step? \u003cPRED\u003eA: Pick up the green marker from the floor\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the green marker from the floor Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the green marker from the floor\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the highlighters in the tin. last 20 steps: 1- Put yellow marker in the pen holder 2- Put blue  marker in the pen holder 3- Put orange marker in the pen holder 4- Put yellow marker in the pen holder 5- Put blue marker in the pen holder 6- place green marker in the empty holder Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the green marker from the floor 2- Put green marker in the pen  holder 3- done\n\u003c/PRED\u003e","video":"4570439134214568235.mp4"}
+{"uid":"11118233920354412513","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up green marker\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up green marker Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the highlighters in the tin. last 20 steps: 1- Put yellow marker in the pen holder 2- Put blue  marker in the pen holder 3- Put orange marker in the pen holder 4- Put yellow marker in the pen holder 5- Put blue marker in the pen holder 6- place green marker in the empty holder Q: immediate next step? \u003cPRED\u003eA: Pick up green marker\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up green marker Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the highlighters in the tin. Q: immediate next step? \u003cPRED\u003eA: Pick up green marker\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up green marker\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the highlighters in the tin. last 20 steps: 1- Put yellow marker in the pen holder 2- Put blue  marker in the pen holder 3- Put orange marker in the pen holder 4- Put yellow marker in the pen holder 5- Put blue marker in the pen holder 6- place green marker in the empty holder Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up green marker 2- Put green marker in the pen  holder 3- done\n\u003c/PRED\u003e","video":"14307575749586444809.mp4"}
+{"uid":"545321438265176888","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put the highlighters in the tin. Q: immediate next step? \u003cPRED\u003eA: place blue marker in the empty holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place blue marker in the empty holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place blue marker in the empty holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace blue marker in the empty holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace blue marker in the empty holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the highlighters in the tin. last 20 steps: 1- Put yellow marker in the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- place blue marker in the empty holder 2- Put orange marker in the pen holder 3- Put yellow marker in the pen holder 4- Put blue marker in the pen holder 5- place green marker in the empty holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the highlighters in the tin. last 20 steps: 1- Put yellow marker in the pen holder Q: immediate next step? \u003cPRED\u003eA: place blue marker in the empty holder\n\u003c/PRED\u003e","video":"3784781769623430740.mp4"}
+{"uid":"1091880765496350632","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick green marker from thr floor\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the highlighters in the tin. Q: immediate next step? \u003cPRED\u003eA: pick green marker from thr floor\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick green marker from thr floor Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the highlighters in the tin. last 20 steps: 1- Put yellow marker in the pen holder 2- Put blue  marker in the pen holder 3- Put orange marker in the pen holder 4- Put yellow marker in the pen holder 5- Put blue marker in the pen holder 6- place green marker in the empty holder Q: immediate next step? \u003cPRED\u003eA: pick green marker from thr floor\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick green marker from thr floor Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the highlighters in the tin. last 20 steps: 1- Put yellow marker in the pen holder 2- Put blue  marker in the pen holder 3- Put orange marker in the pen holder 4- Put yellow marker in the pen holder 5- Put blue marker in the pen holder 6- place green marker in the empty holder Q: next 5 steps? \u003cPRED\u003eA: 1- pick green marker from thr floor 2- Put green marker in the pen  holder 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick green marker from thr floor\n\u003c/PRED\u003e","video":"13057401242956128094.mp4"}
+{"uid":"1105701826110563421","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the fork spoon in right glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9621821101339504561.mp4"}
+{"uid":"9410226185766285902","text":"\u003ctask:success:discrete:True\u003e\nPut the yellow marker in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the yellow marker in the holder\n\u003c/PRED\u003e","video":"16453092452212616709.mp4"}
+{"uid":"10258709457246882376","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put green marker in the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut green marker in the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4971451073192711555.mp4"}
+{"uid":"15542537330310227525","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the white packet in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8286088036219350362.mp4"}
+{"uid":"5178464654946643143","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the yellow marker in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the yellow marker in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17964627858809767108.mp4"}
+{"uid":"7878133292743765216","text":"\u003ctask:success:discrete:False\u003e\nPut the blue marker in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the highlighters in the tin. last 20 steps: 1- Put yellow marker in the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- Put the blue marker in the holder 2- Put orange marker in the pen holder 3- Put yellow marker in the pen holder 4- Put blue marker in the pen holder 5- place green marker in the empty holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the blue marker in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the blue marker in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the blue marker in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the highlighters in the tin. last 20 steps: 1- Put yellow marker in the pen holder Q: immediate next step? \u003cPRED\u003eA: Put the blue marker in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the highlighters in the tin. Q: immediate next step? \u003cPRED\u003eA: Put the blue marker in the holder\n\u003c/PRED\u003e","video":"15258564440584705549.mp4"}
+{"uid":"3776317172210912028","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15449046067550216291.mp4"}
+{"uid":"5149590810797240294","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove your arm upwards Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2859419372388637184.mp4"}
+{"uid":"2218401197296374043","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nLift the strainer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12647751787164218647.mp4"}
+{"uid":"1488027078041166152","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the yellow marker in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the highlighters in the tin. Q: immediate next step? \u003cPRED\u003eA: Put the yellow marker in the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the yellow marker in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the highlighters in the tin. last 20 steps: 1- Put yellow marker in the pen holder 2- Put blue  marker in the pen holder 3- Put orange marker in the pen holder Q: immediate next step? \u003cPRED\u003eA: Put the yellow marker in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the yellow marker in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the highlighters in the tin. last 20 steps: 1- Put yellow marker in the pen holder 2- Put blue  marker in the pen holder 3- Put orange marker in the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- Put the yellow marker in the holder 2- Put blue marker in the pen holder 3- place green marker in the empty holder 4- Pick up green marker 5- Put green marker in the pen  holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the yellow marker in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5784820477660861847.mp4"}
+{"uid":"3507552920451887991","text":"\u003ctask:success:discrete:True\u003e\nPick up the green marker from the floor Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Pick up the green marker from the floor\n\u003c/PRED\u003e","video":"11892772735297571854.mp4"}
+{"uid":"12298287862042762895","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace orange marker in the empty holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the highlighters in the tin. last 20 steps: 1- Put yellow marker in the pen holder 2- Put blue  marker in the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- place orange marker in the empty holder 2- Put yellow marker in the pen holder 3- Put blue marker in the pen holder 4- place green marker in the empty holder 5- Pick up green marker\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace orange marker in the empty holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place orange marker in the empty holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the highlighters in the tin. last 20 steps: 1- Put yellow marker in the pen holder 2- Put blue  marker in the pen holder Q: immediate next step? \u003cPRED\u003eA: place orange marker in the empty holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the highlighters in the tin. Q: immediate next step? \u003cPRED\u003eA: place orange marker in the empty holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place orange marker in the empty holder\n\u003c/PRED\u003e","video":"11093789128880988447.mp4"}
+{"uid":"8136257156310453882","text":"\u003ctask:success:discrete:True\u003e\nplace blue marker in the empty holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place blue marker in the empty holder\n\u003c/PRED\u003e","video":"3123200379764359964.mp4"}
+{"uid":"14294133685972562782","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put yellow marker in the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut yellow marker in the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3455411124185361978.mp4"}
+{"uid":"13143210416248480775","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the orange in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11109096095724303876.mp4"}
+{"uid":"374882556195149336","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place green marker in the empty holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the highlighters in the tin. last 20 steps: 1- Put yellow marker in the pen holder 2- Put blue  marker in the pen holder 3- Put orange marker in the pen holder 4- Put yellow marker in the pen holder 5- Put blue marker in the pen holder 6- place green marker in the empty holder 7- Pick up green marker 8- place green marker in the empty holder Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace green marker in the empty holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the highlighters in the tin. last 20 steps: 1- Put yellow marker in the pen holder 2- Put blue  marker in the pen holder 3- Put orange marker in the pen holder 4- Put yellow marker in the pen holder 5- Put blue marker in the pen holder 6- place green marker in the empty holder 7- Pick up green marker 8- place green marker in the empty holder Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the highlighters in the tin. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"6711693681137318667.mp4"}
+{"uid":"15978048890222391160","text":"\u003ctask:success:discrete:False\u003e\nPut yellow marker in the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put yellow marker in the pen holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the highlighters in the tin. Q: immediate next step? \u003cPRED\u003eA: Put yellow marker in the pen holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the highlighters in the tin. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Put yellow marker in the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut yellow marker in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the highlighters in the tin. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Put yellow marker in the pen holder 2- Put blue  marker in the pen holder 3- Put orange marker in the pen holder 4- Put yellow marker in the pen holder 5- Put blue marker in the pen holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put yellow marker in the pen holder\n\u003c/PRED\u003e","video":"10228710963439152804.mp4"}
+{"uid":"14122281278145155815","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the candy into the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7533049749665857224.mp4"}
+{"uid":"1291258029651691997","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the toffee in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16950220314827523695.mp4"}
+{"uid":"2755879199206518578","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the highlighters in the tin. last 20 steps: 1- Put yellow marker in the pen holder 2- Put blue  marker in the pen holder 3- Put orange marker in the pen holder 4- Put yellow marker in the pen holder Q: immediate next step? \u003cPRED\u003eA: Put blue marker in the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put blue marker in the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut blue marker in the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put blue marker in the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut blue marker in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the highlighters in the tin. Q: immediate next step? \u003cPRED\u003eA: Put blue marker in the pen holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the highlighters in the tin. last 20 steps: 1- Put yellow marker in the pen holder 2- Put blue  marker in the pen holder 3- Put orange marker in the pen holder 4- Put yellow marker in the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- Put blue marker in the pen holder 2- place green marker in the empty holder 3- Pick up green marker 4- Put green marker in the pen  holder 5- done\n\u003c/PRED\u003e","video":"1780176927033074656.mp4"}
+{"uid":"4820992013668915955","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the white small box in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"537642818126798810.mp4"}
+{"uid":"499807872233331848","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the highlighters in the tin. last 20 steps: 1- Put yellow marker in the pen holder 2- Put blue  marker in the pen holder 3- Put orange marker in the pen holder 4- Put yellow marker in the pen holder 5- Put blue marker in the pen holder 6- place green marker in the empty holder 7- Pick up green marker 8- Put the green marker in the holder Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the green marker in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the green marker in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the highlighters in the tin. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the highlighters in the tin. last 20 steps: 1- Put yellow marker in the pen holder 2- Put blue  marker in the pen holder 3- Put orange marker in the pen holder 4- Put yellow marker in the pen holder 5- Put blue marker in the pen holder 6- place green marker in the empty holder 7- Pick up green marker 8- Put the green marker in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"2066327441223577350.mp4"}
+{"uid":"4384780086920043994","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPickup papers from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2867811271945624647.mp4"}
+{"uid":"17353851523015588003","text":"\u003ctask:success:discrete:False\u003e\nplace green marker in the empty holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace green marker in the empty holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the highlighters in the tin. last 20 steps: 1- Put yellow marker in the pen holder 2- Put blue  marker in the pen holder 3- Put orange marker in the pen holder 4- Put yellow marker in the pen holder 5- Put blue marker in the pen holder 6- place green marker in the empty holder 7- Pick up green marker Q: immediate next step? \u003cPRED\u003eA: place green marker in the empty holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place green marker in the empty holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place green marker in the empty holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the highlighters in the tin. Q: immediate next step? \u003cPRED\u003eA: place green marker in the empty holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the highlighters in the tin. last 20 steps: 1- Put yellow marker in the pen holder 2- Put blue  marker in the pen holder 3- Put orange marker in the pen holder 4- Put yellow marker in the pen holder 5- Put blue marker in the pen holder 6- place green marker in the empty holder 7- Pick up green marker Q: next 5 steps? \u003cPRED\u003eA: 1- place green marker in the empty holder 2- done\n\u003c/PRED\u003e","video":"7725255054860685530.mp4"}
+{"uid":"3510445749244736950","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put blue  marker in the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut blue  marker in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the highlighters in the tin. last 20 steps: 1- Put yellow marker in the pen holder Q: immediate next step? \u003cPRED\u003eA: Put blue  marker in the pen holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put blue  marker in the pen holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the highlighters in the tin. last 20 steps: 1- Put yellow marker in the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- Put blue  marker in the pen holder 2- Put orange marker in the pen holder 3- Put yellow marker in the pen holder 4- Put blue marker in the pen holder 5- place green marker in the empty holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut blue  marker in the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the highlighters in the tin. Q: immediate next step? \u003cPRED\u003eA: Put blue  marker in the pen holder\n\u003c/PRED\u003e","video":"834284086148385321.mp4"}
+{"uid":"12953286965741386175","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place green marker in the empty holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace green marker in the empty holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9118968053111348868.mp4"}
+{"uid":"8319041490817563631","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the packet into the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13205359303550183294.mp4"}
+{"uid":"11533520556375950836","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pistachios in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7433370062896536853.mp4"}
+{"uid":"11429556651318422687","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nopen the can cap Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5448577103051391.mp4"}
+{"uid":"13614983111070462729","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put orange marker in the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut orange marker in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the highlighters in the tin. last 20 steps: 1- Put yellow marker in the pen holder 2- Put blue  marker in the pen holder Q: immediate next step? \u003cPRED\u003eA: Put orange marker in the pen holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the highlighters in the tin. Q: immediate next step? \u003cPRED\u003eA: Put orange marker in the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut orange marker in the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the highlighters in the tin. last 20 steps: 1- Put yellow marker in the pen holder 2- Put blue  marker in the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- Put orange marker in the pen holder 2- Put yellow marker in the pen holder 3- Put blue marker in the pen holder 4- place green marker in the empty holder 5- Pick up green marker\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put orange marker in the pen holder\n\u003c/PRED\u003e","video":"11933888105447237941.mp4"}
+{"uid":"14395322440045606165","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the highlighters in the tin. last 20 steps: 1- Put yellow marker in the pen holder 2- Put blue  marker in the pen holder 3- Put orange marker in the pen holder 4- Put yellow marker in the pen holder 5- Put blue marker in the pen holder 6- place green marker in the empty holder 7- Pick up green marker Q: next 5 steps? \u003cPRED\u003eA: 1- Put the green marker in the holder 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the green marker in the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the green marker in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the highlighters in the tin. Q: immediate next step? \u003cPRED\u003eA: Put the green marker in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the green marker in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the highlighters in the tin. last 20 steps: 1- Put yellow marker in the pen holder 2- Put blue  marker in the pen holder 3- Put orange marker in the pen holder 4- Put yellow marker in the pen holder 5- Put blue marker in the pen holder 6- place green marker in the empty holder 7- Pick up green marker Q: immediate next step? \u003cPRED\u003eA: Put the green marker in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the green marker in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10653452574563491648.mp4"}
+{"uid":"5911956260675761638","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pink marker in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15496748777422206221.mp4"}
+{"uid":"674328803661070230","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the highlighters in the tin. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Put the yellow marker in the holder 2- Put blue  marker in the pen holder 3- Put orange marker in the pen holder 4- Put yellow marker in the pen holder 5- Put blue marker in the pen holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the highlighters in the tin. Q: immediate next step? \u003cPRED\u003eA: Put the yellow marker in the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the yellow marker in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the yellow marker in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the yellow marker in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the yellow marker in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the highlighters in the tin. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Put the yellow marker in the holder\n\u003c/PRED\u003e","video":"810914880905644596.mp4"}
+{"uid":"14566312256735034319","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put orange marker in the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut orange marker in the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6688111349438218956.mp4"}
+{"uid":"7002938723889926249","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the green marker in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the green marker in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17219406919855955418.mp4"}
+{"uid":"15549275632580207050","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace yellow marker in the empty holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place yellow marker in the empty holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place yellow marker in the empty holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the highlighters in the tin. last 20 steps: 1- Put yellow marker in the pen holder 2- Put blue  marker in the pen holder 3- Put orange marker in the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- place yellow marker in the empty holder 2- Put blue marker in the pen holder 3- place green marker in the empty holder 4- Pick up green marker 5- Put green marker in the pen  holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the highlighters in the tin. Q: immediate next step? \u003cPRED\u003eA: place yellow marker in the empty holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace yellow marker in the empty holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the highlighters in the tin. last 20 steps: 1- Put yellow marker in the pen holder 2- Put blue  marker in the pen holder 3- Put orange marker in the pen holder Q: immediate next step? \u003cPRED\u003eA: place yellow marker in the empty holder\n\u003c/PRED\u003e","video":"13728523003178092650.mp4"}
+{"uid":"17398909641013088059","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the cold brew can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4806719241261269822.mp4"}
+{"uid":"5661682145063315850","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace orange packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1093423608820337309.mp4"}
+{"uid":"756537116483716178","text":"\u003ctask:success:discrete:False\u003e\nPut the green marker in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the highlighters in the tin. last 20 steps: 1- Put yellow marker in the pen holder 2- Put blue  marker in the pen holder 3- Put orange marker in the pen holder 4- Put yellow marker in the pen holder 5- Put blue marker in the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- Put the green marker in the holder 2- Pick up green marker 3- Put green marker in the pen  holder 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the green marker in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the highlighters in the tin. Q: immediate next step? \u003cPRED\u003eA: Put the green marker in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the highlighters in the tin. last 20 steps: 1- Put yellow marker in the pen holder 2- Put blue  marker in the pen holder 3- Put orange marker in the pen holder 4- Put yellow marker in the pen holder 5- Put blue marker in the pen holder Q: immediate next step? \u003cPRED\u003eA: Put the green marker in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the green marker in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the green marker in the holder\n\u003c/PRED\u003e","video":"4762284686791870810.mp4"}
+{"uid":"11349212412530525342","text":"\u003ctask:success:discrete:True\u003e\nPut the orange marker in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the orange marker in the holder\n\u003c/PRED\u003e","video":"13583921880269299301.mp4"}
+{"uid":"4923406954484873834","text":"\u003ctask:success:discrete:True\u003e\nPick up green marker Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Pick up green marker\n\u003c/PRED\u003e","video":"1595880600183035363.mp4"}
+{"uid":"9312612725235585989","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the white packet in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12106417120118085919.mp4"}
+{"uid":"9363815014648015905","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place blue marker in the empty holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the highlighters in the tin. last 20 steps: 1- Put yellow marker in the pen holder 2- Put blue  marker in the pen holder 3- Put orange marker in the pen holder 4- Put yellow marker in the pen holder Q: immediate next step? \u003cPRED\u003eA: place blue marker in the empty holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace blue marker in the empty holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace blue marker in the empty holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the highlighters in the tin. last 20 steps: 1- Put yellow marker in the pen holder 2- Put blue  marker in the pen holder 3- Put orange marker in the pen holder 4- Put yellow marker in the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- place blue marker in the empty holder 2- place green marker in the empty holder 3- Pick up green marker 4- Put green marker in the pen  holder 5- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place blue marker in the empty holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the highlighters in the tin. Q: immediate next step? \u003cPRED\u003eA: place blue marker in the empty holder\n\u003c/PRED\u003e","video":"14340092707104089693.mp4"}
+{"uid":"13145045706042589585","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the blue marker in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the blue marker in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3356353025800110320.mp4"}
+{"uid":"12172601720546584215","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pistachio in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7382901683908029084.mp4"}
+{"uid":"13469764506295052777","text":"\u003ctask:success:discrete:True\u003e\nPut yellow marker in the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put yellow marker in the pen holder\n\u003c/PRED\u003e","video":"12987747849185353125.mp4"}
+{"uid":"12047716511525323285","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nStack the plastic glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14323345869163699871.mp4"}
+{"uid":"3521122689371505871","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put blue marker in the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut blue marker in the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16396387177601284259.mp4"}
+{"uid":"1765405799618585978","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put green marker in the pen  holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut green marker in the pen  holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the highlighters in the tin. last 20 steps: 1- Put yellow marker in the pen holder 2- Put blue  marker in the pen holder 3- Put orange marker in the pen holder 4- Put yellow marker in the pen holder 5- Put blue marker in the pen holder 6- place green marker in the empty holder 7- Pick up green marker Q: next 5 steps? \u003cPRED\u003eA: 1- Put green marker in the pen  holder 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the highlighters in the tin. last 20 steps: 1- Put yellow marker in the pen holder 2- Put blue  marker in the pen holder 3- Put orange marker in the pen holder 4- Put yellow marker in the pen holder 5- Put blue marker in the pen holder 6- place green marker in the empty holder 7- Pick up green marker Q: immediate next step? \u003cPRED\u003eA: Put green marker in the pen  holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut green marker in the pen  holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the highlighters in the tin. Q: immediate next step? \u003cPRED\u003eA: Put green marker in the pen  holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put green marker in the pen  holder\n\u003c/PRED\u003e","video":"5667371163213681927.mp4"}
+{"uid":"373664611697658699","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the highlighters in the tin. last 20 steps: 1- Put yellow marker in the pen holder 2- Put blue  marker in the pen holder 3- Put orange marker in the pen holder 4- Put yellow marker in the pen holder 5- Put blue marker in the pen holder 6- place green marker in the empty holder 7- Pick up green marker 8- Put green marker in the pen  holder Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut green marker in the pen  holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the highlighters in the tin. last 20 steps: 1- Put yellow marker in the pen holder 2- Put blue  marker in the pen holder 3- Put orange marker in the pen holder 4- Put yellow marker in the pen holder 5- Put blue marker in the pen holder 6- place green marker in the empty holder 7- Pick up green marker 8- Put green marker in the pen  holder Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put green marker in the pen  holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the highlighters in the tin. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"18163380199163857551.mp4"}
+{"uid":"10846919451783733706","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the envelope in the glass cage Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9036729269305427223.mp4"}
+{"uid":"15191436740651408188","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick the left blue chocolate Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5014953828074454414.mp4"}
+{"uid":"12150401794338297802","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put green marker in the pen holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the highlighters in the tin. Q: immediate next step? \u003cPRED\u003eA: Put green marker in the pen holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the highlighters in the tin. last 20 steps: 1- Put yellow marker in the pen holder 2- Put blue  marker in the pen holder 3- Put orange marker in the pen holder 4- Put yellow marker in the pen holder 5- Put blue marker in the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- Put green marker in the pen holder 2- Pick up green marker 3- Put green marker in the pen  holder 4- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut green marker in the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put green marker in the pen holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the highlighters in the tin. last 20 steps: 1- Put yellow marker in the pen holder 2- Put blue  marker in the pen holder 3- Put orange marker in the pen holder 4- Put yellow marker in the pen holder 5- Put blue marker in the pen holder Q: immediate next step? \u003cPRED\u003eA: Put green marker in the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut green marker in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5605643360192482005.mp4"}
+{"uid":"17780749082981335152","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put blue can on table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput blue can on table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4211722696426245131.mp4"}
+{"uid":"17097248345351377248","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cold brew from the tray. last 20 steps: 1- place cold brew can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put blue can on table 2- place cold brew can on the table 3- place cold brew can on the table 4- place cold brew can on the table 5- place cold brew can on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put blue can on table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput blue can on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put blue can on table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the cold brew from the tray Q: immediate next step? \u003cPRED\u003eA: put blue can on table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cold brew from the tray. last 20 steps: 1- place cold brew can on the table Q: immediate next step? \u003cPRED\u003eA: put blue can on table\n\u003c/PRED\u003e","video":"16763128532839446328.mp4"}
+{"uid":"18218289277418047863","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up the orange from the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12217678005790438390.mp4"}
+{"uid":"5500164637549513437","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cold brew from the tray. last 20 steps: 1- place cold brew can on the table 2- place cold brew can on the table 3- place cold brew can on the table 4- place cold brew can on the table 5- place cold brew can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Place the cold brew can on the table 2- place cold brew can on the table 3- place cold brew can on the table 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cold brew from the tray. last 20 steps: 1- place cold brew can on the table 2- place cold brew can on the table 3- place cold brew can on the table 4- place cold brew can on the table 5- place cold brew can on the table Q: immediate next step? \u003cPRED\u003eA: Place the cold brew can on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the cold brew can on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the cold brew from the tray Q: immediate next step? \u003cPRED\u003eA: Place the cold brew can on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the cold brew can on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the cold brew can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the cold brew can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"22007989881037019.mp4"}
+{"uid":"7411000371407327946","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput apple in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3239976090118267264.mp4"}
+{"uid":"15657315888640740248","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace cold brew can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cold brew from the tray. last 20 steps: 1- place cold brew can on the table 2- place cold brew can on the table 3- place cold brew can on the table 4- place cold brew can on the table 5- place cold brew can on the table Q: immediate next step? \u003cPRED\u003eA: place cold brew can on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place cold brew can on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place cold brew can on the table\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place cold brew can on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace cold brew can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the cold brew from the tray Q: immediate next step? \u003cPRED\u003eA: place cold brew can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cold brew from the tray. last 20 steps: 1- place cold brew can on the table 2- place cold brew can on the table 3- place cold brew can on the table 4- place cold brew can on the table 5- place cold brew can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place cold brew can on the table 2- place cold brew can on the table 3- place cold brew can on the table 4- done\n\u003c/PRED\u003e","video":"7968390279136309030.mp4"}
+{"uid":"6829042625705313255","text":"\u003ctask:success:discrete:True\u003e\nplace cold brew can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place cold brew can on the table\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place cold brew can on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the cold brew from the tray Q: immediate next step? \u003cPRED\u003eA: place cold brew can on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place cold brew can on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cold brew from the tray. last 20 steps: 1- place cold brew can on the table 2- place cold brew can on the table Q: immediate next step? \u003cPRED\u003eA: place cold brew can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cold brew from the tray. last 20 steps: 1- place cold brew can on the table 2- place cold brew can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place cold brew can on the table 2- place cold brew can on the table 3- place cold brew can on the table 4- place cold brew can on the table 5- place cold brew can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace cold brew can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1952118493030526666.mp4"}
+{"uid":"8720649665298998214","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cold brew from the tray. last 20 steps: 1- place cold brew can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place cold brew can on the table 2- place cold brew can on the table 3- place cold brew can on the table 4- place cold brew can on the table 5- place cold brew can on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place cold brew can on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cold brew from the tray. last 20 steps: 1- place cold brew can on the table Q: immediate next step? \u003cPRED\u003eA: place cold brew can on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the cold brew from the tray Q: immediate next step? \u003cPRED\u003eA: place cold brew can on the table\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place cold brew can on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place cold brew can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace cold brew can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace cold brew can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"87364363261178527.mp4"}
+{"uid":"12636322341163268693","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the cold brew can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the cold brew from the tray Q: immediate next step? \u003cPRED\u003eA: Place the cold brew can on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cold brew from the tray. last 20 steps: 1- place cold brew can on the table Q: immediate next step? \u003cPRED\u003eA: Place the cold brew can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cold brew from the tray. last 20 steps: 1- place cold brew can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Place the cold brew can on the table 2- place cold brew can on the table 3- place cold brew can on the table 4- place cold brew can on the table 5- place cold brew can on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the cold brew can on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the cold brew can on the table\n\u003c/PRED\u003e","video":"12145628180509779918.mp4"}
+{"uid":"4434169384511089589","text":"\u003ctask:success:discrete:False\u003e\nPlace the cold brew can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cold brew from the tray. last 20 steps: 1- place cold brew can on the table 2- place cold brew can on the table 3- place cold brew can on the table 4- place cold brew can on the table 5- place cold brew can on the table 6- place cold brew can on the table 7- place cold brew can on the table Q: immediate next step? \u003cPRED\u003eA: Place the cold brew can on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the cold brew can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the cold brew can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the cold brew from the tray Q: immediate next step? \u003cPRED\u003eA: Place the cold brew can on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the cold brew can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cold brew from the tray. last 20 steps: 1- place cold brew can on the table 2- place cold brew can on the table 3- place cold brew can on the table 4- place cold brew can on the table 5- place cold brew can on the table 6- place cold brew can on the table 7- place cold brew can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Place the cold brew can on the table 2- done\n\u003c/PRED\u003e","video":"6306633736824407406.mp4"}
+{"uid":"15952010099335963270","text":"\u003ctask:success:discrete:True\u003e\nput blue can on table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the cold brew from the tray Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put blue can on table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cold brew from the tray. last 20 steps: 1- place cold brew can on the table 2- place cold brew can on the table 3- place cold brew can on the table 4- place cold brew can on the table 5- place cold brew can on the table 6- place cold brew can on the table 7- place cold brew can on the table 8- put blue can on table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cold brew from the tray. last 20 steps: 1- place cold brew can on the table 2- place cold brew can on the table 3- place cold brew can on the table 4- place cold brew can on the table 5- place cold brew can on the table 6- place cold brew can on the table 7- place cold brew can on the table 8- put blue can on table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"1746636018071928291.mp4"}
+{"uid":"2811985351803210918","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove to the right Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4536987420357930520.mp4"}
+{"uid":"3208386355764032213","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cold brew from the tray. last 20 steps: 1- place cold brew can on the table 2- place cold brew can on the table 3- place cold brew can on the table 4- place cold brew can on the table Q: immediate next step? \u003cPRED\u003eA: Place the cold brew can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cold brew from the tray. last 20 steps: 1- place cold brew can on the table 2- place cold brew can on the table 3- place cold brew can on the table 4- place cold brew can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Place the cold brew can on the table 2- place cold brew can on the table 3- place cold brew can on the table 4- place cold brew can on the table 5- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the cold brew from the tray Q: immediate next step? \u003cPRED\u003eA: Place the cold brew can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the cold brew can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the cold brew can on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the cold brew can on the table\n\u003c/PRED\u003e","video":"17301134749988442244.mp4"}
+{"uid":"13264343742519082049","text":"\u003ctask:success:discrete:False\u003e\nput blue can on table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cold brew from the tray. last 20 steps: 1- place cold brew can on the table 2- place cold brew can on the table 3- place cold brew can on the table 4- place cold brew can on the table 5- place cold brew can on the table 6- place cold brew can on the table Q: immediate next step? \u003cPRED\u003eA: put blue can on table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the cold brew from the tray Q: immediate next step? \u003cPRED\u003eA: put blue can on table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput blue can on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put blue can on table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cold brew from the tray. last 20 steps: 1- place cold brew can on the table 2- place cold brew can on the table 3- place cold brew can on the table 4- place cold brew can on the table 5- place cold brew can on the table 6- place cold brew can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put blue can on table 2- place cold brew can on the table 3- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put blue can on table\n\u003c/PRED\u003e","video":"18403715723171254364.mp4"}
+{"uid":"17822645388426478324","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place cold brew can on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place cold brew can on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place cold brew can on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the cold brew from the tray Q: immediate next step? \u003cPRED\u003eA: place cold brew can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace cold brew can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace cold brew can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cold brew from the tray. last 20 steps: 1- place cold brew can on the table 2- place cold brew can on the table 3- place cold brew can on the table Q: immediate next step? \u003cPRED\u003eA: place cold brew can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cold brew from the tray. last 20 steps: 1- place cold brew can on the table 2- place cold brew can on the table 3- place cold brew can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place cold brew can on the table 2- place cold brew can on the table 3- place cold brew can on the table 4- place cold brew can on the table 5- place cold brew can on the table\n\u003c/PRED\u003e","video":"4650108378809699183.mp4"}
+{"uid":"1955254404045521398","text":"\u003ctask:success:discrete:True\u003e\nPlace the cold brew can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the cold brew can on the table\n\u003c/PRED\u003e","video":"14791833839362348493.mp4"}
+{"uid":"7424472721880414360","text":"\u003ctask:success:discrete:True\u003e\nput blue can on table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put blue can on table\n\u003c/PRED\u003e","video":"6982424109619774900.mp4"}
+{"uid":"14585833841461684549","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put blue can on table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput blue can on table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16263066528278676765.mp4"}
+{"uid":"13057177156368971921","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place cold brew can on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace cold brew can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9699400519726767856.mp4"}
+{"uid":"13287442433796162259","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the apple in basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4006731463879779534.mp4"}
+{"uid":"4866241902585238137","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8823889707488447845.mp4"}
+{"uid":"2581743689980696433","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace cold brew can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place cold brew can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cold brew from the tray. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place cold brew can on the table 2- place cold brew can on the table 3- place cold brew can on the table 4- place cold brew can on the table 5- place cold brew can on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place cold brew can on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace cold brew can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cold brew from the tray. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place cold brew can on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the cold brew from the tray Q: immediate next step? \u003cPRED\u003eA: place cold brew can on the table\n\u003c/PRED\u003e","video":"18352679173113169311.mp4"}
+{"uid":"8439297932697881245","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the cold brew from the tray Q: immediate next step? \u003cPRED\u003eA: put blue can on table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put blue can on table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put blue can on table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput blue can on table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput blue can on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cold brew from the tray. last 20 steps: 1- place cold brew can on the table 2- place cold brew can on the table 3- place cold brew can on the table 4- place cold brew can on the table 5- place cold brew can on the table Q: immediate next step? \u003cPRED\u003eA: put blue can on table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cold brew from the tray. last 20 steps: 1- place cold brew can on the table 2- place cold brew can on the table 3- place cold brew can on the table 4- place cold brew can on the table 5- place cold brew can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put blue can on table 2- place cold brew can on the table 3- place cold brew can on the table 4- done\n\u003c/PRED\u003e","video":"9792131216179502858.mp4"}
+{"uid":"1832910763132656593","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cold brew from the tray. last 20 steps: 1- place cold brew can on the table 2- place cold brew can on the table 3- place cold brew can on the table 4- place cold brew can on the table 5- place cold brew can on the table 6- place cold brew can on the table 7- place cold brew can on the table 8- place cold brew can on the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the cold brew from the tray Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place cold brew can on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace cold brew can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cold brew from the tray. last 20 steps: 1- place cold brew can on the table 2- place cold brew can on the table 3- place cold brew can on the table 4- place cold brew can on the table 5- place cold brew can on the table 6- place cold brew can on the table 7- place cold brew can on the table 8- place cold brew can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"11209429164357179994.mp4"}
+{"uid":"9209028493964481890","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cold brew from the tray. last 20 steps: 1- place cold brew can on the table 2- place cold brew can on the table 3- place cold brew can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put blue can on table 2- place cold brew can on the table 3- place cold brew can on the table 4- place cold brew can on the table 5- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the cold brew from the tray Q: immediate next step? \u003cPRED\u003eA: put blue can on table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cold brew from the tray. last 20 steps: 1- place cold brew can on the table 2- place cold brew can on the table 3- place cold brew can on the table Q: immediate next step? \u003cPRED\u003eA: put blue can on table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put blue can on table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put blue can on table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput blue can on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14714520875645573253.mp4"}
+{"uid":"13186197158410527426","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the pen in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9718505351133120138.mp4"}
+{"uid":"13989892215670748050","text":"\u003ctask:success:discrete:False\u003e\nput blue can on table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put blue can on table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cold brew from the tray. last 20 steps: 1- place cold brew can on the table 2- place cold brew can on the table 3- place cold brew can on the table 4- place cold brew can on the table Q: immediate next step? \u003cPRED\u003eA: put blue can on table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put blue can on table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cold brew from the tray. last 20 steps: 1- place cold brew can on the table 2- place cold brew can on the table 3- place cold brew can on the table 4- place cold brew can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put blue can on table 2- place cold brew can on the table 3- place cold brew can on the table 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput blue can on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the cold brew from the tray Q: immediate next step? \u003cPRED\u003eA: put blue can on table\n\u003c/PRED\u003e","video":"11456772936021881606.mp4"}
+{"uid":"10356220469830338354","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nArrange the banana in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14994079990867439156.mp4"}
+{"uid":"5899541677234665087","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nGrab the green can Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10196387953979066270.mp4"}
+{"uid":"16771491372627961949","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the cold brew from the tray Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the cold brew can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cold brew from the tray. last 20 steps: 1- place cold brew can on the table 2- place cold brew can on the table 3- place cold brew can on the table 4- place cold brew can on the table 5- place cold brew can on the table 6- place cold brew can on the table 7- place cold brew can on the table 8- Place the cold brew can on the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the cold brew can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cold brew from the tray. last 20 steps: 1- place cold brew can on the table 2- place cold brew can on the table 3- place cold brew can on the table 4- place cold brew can on the table 5- place cold brew can on the table 6- place cold brew can on the table 7- place cold brew can on the table 8- Place the cold brew can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"9978165274565074956.mp4"}
+{"uid":"1889770595971660699","text":"\u003ctask:success:discrete:True\u003e\nPlace the cold brew can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the cold brew can on the table\n\u003c/PRED\u003e","video":"9147319733809908672.mp4"}
+{"uid":"1407454884017975404","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the holder in the center Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11107085133997069663.mp4"}
+{"uid":"6624866513366428054","text":"\u003ctask:success:discrete:True\u003e\nPlace the cold brew can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the cold brew can on the table\n\u003c/PRED\u003e","video":"5054290164584397776.mp4"}
+{"uid":"8666799167340078335","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the cold brew can on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the cold brew can on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cold brew from the tray. last 20 steps: 1- place cold brew can on the table 2- place cold brew can on the table 3- place cold brew can on the table 4- place cold brew can on the table 5- place cold brew can on the table 6- place cold brew can on the table Q: immediate next step? \u003cPRED\u003eA: Place the cold brew can on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the cold brew from the tray Q: immediate next step? \u003cPRED\u003eA: Place the cold brew can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cold brew from the tray. last 20 steps: 1- place cold brew can on the table 2- place cold brew can on the table 3- place cold brew can on the table 4- place cold brew can on the table 5- place cold brew can on the table 6- place cold brew can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Place the cold brew can on the table 2- place cold brew can on the table 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the cold brew can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15061728278685813373.mp4"}
+{"uid":"15924722041956951943","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put blue can on table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cold brew from the tray. last 20 steps: 1- place cold brew can on the table 2- place cold brew can on the table Q: immediate next step? \u003cPRED\u003eA: put blue can on table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the cold brew from the tray Q: immediate next step? \u003cPRED\u003eA: put blue can on table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput blue can on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cold brew from the tray. last 20 steps: 1- place cold brew can on the table 2- place cold brew can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put blue can on table 2- place cold brew can on the table 3- place cold brew can on the table 4- place cold brew can on the table 5- place cold brew can on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put blue can on table\n\u003c/PRED\u003e","video":"5474114058456682180.mp4"}
+{"uid":"16527697758556166292","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the cold brew can on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cold brew from the tray. last 20 steps: 1- place cold brew can on the table 2- place cold brew can on the table Q: immediate next step? \u003cPRED\u003eA: Place the cold brew can on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the cold brew can on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the cold brew from the tray Q: immediate next step? \u003cPRED\u003eA: Place the cold brew can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the cold brew can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cold brew from the tray. last 20 steps: 1- place cold brew can on the table 2- place cold brew can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Place the cold brew can on the table 2- place cold brew can on the table 3- place cold brew can on the table 4- place cold brew can on the table 5- place cold brew can on the table\n\u003c/PRED\u003e","video":"8554887959167019805.mp4"}
+{"uid":"16687913035069883207","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the cold brew from the tray Q: immediate next step? \u003cPRED\u003eA: put blue can on table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put blue can on table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput blue can on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cold brew from the tray. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put blue can on table 2- place cold brew can on the table 3- place cold brew can on the table 4- place cold brew can on the table 5- place cold brew can on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cold brew from the tray. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put blue can on table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put blue can on table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput blue can on table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3033628314273584148.mp4"}
+{"uid":"6576273664197514471","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the blue toffee in glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1203336911707063738.mp4"}
+{"uid":"3210863556001744155","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the silver packets in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8652679801179383802.mp4"}
+{"uid":"8859804892518136546","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace cold brew can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cold brew from the tray. last 20 steps: 1- place cold brew can on the table 2- place cold brew can on the table 3- place cold brew can on the table 4- place cold brew can on the table Q: immediate next step? \u003cPRED\u003eA: place cold brew can on the table\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place cold brew can on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the cold brew from the tray Q: immediate next step? \u003cPRED\u003eA: place cold brew can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cold brew from the tray. last 20 steps: 1- place cold brew can on the table 2- place cold brew can on the table 3- place cold brew can on the table 4- place cold brew can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place cold brew can on the table 2- place cold brew can on the table 3- place cold brew can on the table 4- place cold brew can on the table 5- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place cold brew can on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace cold brew can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place cold brew can on the table\n\u003c/PRED\u003e","video":"6264589578349904020.mp4"}
+{"uid":"18330700731603256261","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the glue stick in the white box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4290323275689682929.mp4"}
+{"uid":"18053361662519667695","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace apple on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16544165049461693004.mp4"}
+{"uid":"5418855148879547874","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the orange packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2140785186760494990.mp4"}
+{"uid":"3334219399347755776","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the forks into the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2025161106577806510.mp4"}
+{"uid":"16104963574937208293","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8777356292241763042.mp4"}
+{"uid":"3008595137478738750","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place cold brew can on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place cold brew can on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the cold brew from the tray Q: immediate next step? \u003cPRED\u003eA: place cold brew can on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace cold brew can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cold brew from the tray. last 20 steps: 1- place cold brew can on the table 2- place cold brew can on the table 3- place cold brew can on the table 4- place cold brew can on the table 5- place cold brew can on the table 6- place cold brew can on the table 7- place cold brew can on the table Q: immediate next step? \u003cPRED\u003eA: place cold brew can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cold brew from the tray. last 20 steps: 1- place cold brew can on the table 2- place cold brew can on the table 3- place cold brew can on the table 4- place cold brew can on the table 5- place cold brew can on the table 6- place cold brew can on the table 7- place cold brew can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place cold brew can on the table 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace cold brew can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15493150919795299521.mp4"}
+{"uid":"1682924320488569251","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the white jalapeno chip bag in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"990517371719675388.mp4"}
+{"uid":"12450577839788612876","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the sticky notes in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11594979787976174756.mp4"}
+{"uid":"6114708125054032773","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nturn off the light Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16553951910413431738.mp4"}
+{"uid":"1792120246389146129","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place cold brew can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cold brew from the tray. last 20 steps: 1- place cold brew can on the table 2- place cold brew can on the table 3- place cold brew can on the table 4- place cold brew can on the table 5- place cold brew can on the table 6- place cold brew can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place cold brew can on the table 2- place cold brew can on the table 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place cold brew can on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place cold brew can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace cold brew can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cold brew from the tray. last 20 steps: 1- place cold brew can on the table 2- place cold brew can on the table 3- place cold brew can on the table 4- place cold brew can on the table 5- place cold brew can on the table 6- place cold brew can on the table Q: immediate next step? \u003cPRED\u003eA: place cold brew can on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the cold brew from the tray Q: immediate next step? \u003cPRED\u003eA: place cold brew can on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace cold brew can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2001538430419233456.mp4"}
+{"uid":"15934147463895782901","text":"\u003ctask:success:discrete:True\u003e\nPlace the cold brew can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the cold brew can on the table\n\u003c/PRED\u003e","video":"14738329140045206104.mp4"}
+{"uid":"5564009175780295748","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the paper glass on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"766541291734749383.mp4"}
+{"uid":"2095253826061058321","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14071734795836062577.mp4"}
+{"uid":"7345760460535042233","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9752536600588210482.mp4"}
+{"uid":"1023605093704713514","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the cold brew can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cold brew from the tray. last 20 steps: 1- place cold brew can on the table 2- place cold brew can on the table 3- place cold brew can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Place the cold brew can on the table 2- place cold brew can on the table 3- place cold brew can on the table 4- place cold brew can on the table 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the cold brew can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the cold brew can on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the cold brew from the tray Q: immediate next step? \u003cPRED\u003eA: Place the cold brew can on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cold brew from the tray. last 20 steps: 1- place cold brew can on the table 2- place cold brew can on the table 3- place cold brew can on the table Q: immediate next step? \u003cPRED\u003eA: Place the cold brew can on the table\n\u003c/PRED\u003e","video":"15653536322499728033.mp4"}
+{"uid":"14240184065676884002","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nthrow the bowl into recycle bin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5858250027264380487.mp4"}
+{"uid":"9559092010514144611","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the cold brew can on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the cold brew can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6726484663822605947.mp4"}
+{"uid":"3041427137426096559","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the sticky notes in a tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1366235618234210007.mp4"}
+{"uid":"5431655221460494976","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cold brew from the tray. last 20 steps: 1- place cold brew can on the table 2- place cold brew can on the table 3- place cold brew can on the table 4- place cold brew can on the table 5- place cold brew can on the table 6- place cold brew can on the table 7- place cold brew can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put blue can on table 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput blue can on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput blue can on table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cold brew from the tray. last 20 steps: 1- place cold brew can on the table 2- place cold brew can on the table 3- place cold brew can on the table 4- place cold brew can on the table 5- place cold brew can on the table 6- place cold brew can on the table 7- place cold brew can on the table Q: immediate next step? \u003cPRED\u003eA: put blue can on table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put blue can on table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put blue can on table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the cold brew from the tray Q: immediate next step? \u003cPRED\u003eA: put blue can on table\n\u003c/PRED\u003e","video":"5953255216651227851.mp4"}
+{"uid":"798024042112237757","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cold brew from the tray. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Place the cold brew can on the table 2- place cold brew can on the table 3- place cold brew can on the table 4- place cold brew can on the table 5- place cold brew can on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cold brew from the tray. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Place the cold brew can on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the cold brew from the tray Q: immediate next step? \u003cPRED\u003eA: Place the cold brew can on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the cold brew can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the cold brew can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the cold brew can on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the cold brew can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5493130196787306892.mp4"}
+{"uid":"13446283508315147815","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the yellow candy into the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please flip the bowls and pickup the yellow, pink and green candies from the floor and place them  in bowls. Then pick up the tongs from floor and place in bins. last 20 steps: 1- put the bowl upside right on the table 2- place the bowl upside right on the table 3- put the yellow candy into the bowl 4- put the yellow candy into the bowl 5- put the yellow candy into the bowl 6- put the yellow candy into the bowl 7- put the yellow candy into the bowl Q: immediate next step? \u003cPRED\u003eA: put the yellow candy into the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the yellow candy into the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please flip the bowls and pickup the yellow, pink and green candies from the floor and place them  in bowls. Then pick up the tongs from floor and place in bins. last 20 steps: 1- put the bowl upside right on the table 2- place the bowl upside right on the table 3- put the yellow candy into the bowl 4- put the yellow candy into the bowl 5- put the yellow candy into the bowl 6- put the yellow candy into the bowl 7- put the yellow candy into the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the yellow candy into the bowl 2- put the yellow candy into the bowl 3- put the yellow candy into the bowl 4- place the pink candy into the bowl 5- put the green candy into the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the yellow candy into the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please flip the bowls and pickup the yellow, pink and green candies from the floor and place them  in bowls. Then pick up the tongs from floor and place in bins. Q: immediate next step? \u003cPRED\u003eA: put the yellow candy into the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the yellow candy into the bowl\n\u003c/PRED\u003e","video":"5806720981498883309.mp4"}
+{"uid":"15602099191498699924","text":"\u003ctask:success:discrete:True\u003e\nput the yellow candy into the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the yellow candy into the bowl\n\u003c/PRED\u003e","video":"11719897903077068544.mp4"}
+{"uid":"17489461522399800250","text":"\u003ctask:success:discrete:False\u003e\nplace the tong into the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the tong into the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the tong into the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the tong into the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please flip the bowls and pickup the yellow, pink and green candies from the floor and place them  in bowls. Then pick up the tongs from floor and place in bins. last 20 steps: 1- place the bowl upside right on the table 2- put the yellow candy into the bowl 3- put the yellow candy into the bowl 4- put the yellow candy into the bowl 5- put the yellow candy into the bowl 6- put the yellow candy into the bowl 7- put the yellow candy into the bowl 8- put the yellow candy into the bowl 9- put the yellow candy into the bowl 10- place the pink candy into the bowl 11- put the green candy into the bowl 12- place the green candy into the bowl 13- put the green candy into the bowl 14- place the green candy into the bowl 15- put the pink candy into the bowl 16- place the pink candy into the bowl 17- put the pink candy into the bowl 18- put the green candy into the bowl 19- put the green candy into the bowl 20- place the pink candy into the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place the tong into the holder 2- put the tong into the holder 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please flip the bowls and pickup the yellow, pink and green candies from the floor and place them  in bowls. Then pick up the tongs from floor and place in bins. Q: immediate next step? \u003cPRED\u003eA: place the tong into the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please flip the bowls and pickup the yellow, pink and green candies from the floor and place them  in bowls. Then pick up the tongs from floor and place in bins. last 20 steps: 1- place the bowl upside right on the table 2- put the yellow candy into the bowl 3- put the yellow candy into the bowl 4- put the yellow candy into the bowl 5- put the yellow candy into the bowl 6- put the yellow candy into the bowl 7- put the yellow candy into the bowl 8- put the yellow candy into the bowl 9- put the yellow candy into the bowl 10- place the pink candy into the bowl 11- put the green candy into the bowl 12- place the green candy into the bowl 13- put the green candy into the bowl 14- place the green candy into the bowl 15- put the pink candy into the bowl 16- place the pink candy into the bowl 17- put the pink candy into the bowl 18- put the green candy into the bowl 19- put the green candy into the bowl 20- place the pink candy into the bowl Q: immediate next step? \u003cPRED\u003eA: place the tong into the holder\n\u003c/PRED\u003e","video":"7267636590344304199.mp4"}
+{"uid":"8325349567840629442","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the yellow candy into the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please flip the bowls and pickup the yellow, pink and green candies from the floor and place them  in bowls. Then pick up the tongs from floor and place in bins. last 20 steps: 1- put the bowl upside right on the table 2- place the bowl upside right on the table 3- put the yellow candy into the bowl 4- put the yellow candy into the bowl 5- put the yellow candy into the bowl 6- put the yellow candy into the bowl 7- put the yellow candy into the bowl 8- put the yellow candy into the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the yellow candy into the bowl 2- put the yellow candy into the bowl 3- place the pink candy into the bowl 4- put the green candy into the bowl 5- place the green candy into the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please flip the bowls and pickup the yellow, pink and green candies from the floor and place them  in bowls. Then pick up the tongs from floor and place in bins. Q: immediate next step? \u003cPRED\u003eA: put the yellow candy into the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please flip the bowls and pickup the yellow, pink and green candies from the floor and place them  in bowls. Then pick up the tongs from floor and place in bins. last 20 steps: 1- put the bowl upside right on the table 2- place the bowl upside right on the table 3- put the yellow candy into the bowl 4- put the yellow candy into the bowl 5- put the yellow candy into the bowl 6- put the yellow candy into the bowl 7- put the yellow candy into the bowl 8- put the yellow candy into the bowl Q: immediate next step? \u003cPRED\u003eA: put the yellow candy into the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the yellow candy into the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the yellow candy into the bowl\n\u003c/PRED\u003e","video":"15401841652237870601.mp4"}
+{"uid":"3984689305744548098","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pink candy into the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please flip the bowls and pickup the yellow, pink and green candies from the floor and place them  in bowls. Then pick up the tongs from floor and place in bins. last 20 steps: 1- put the bowl upside right on the table 2- place the bowl upside right on the table 3- put the yellow candy into the bowl 4- put the yellow candy into the bowl 5- put the yellow candy into the bowl 6- put the yellow candy into the bowl 7- put the yellow candy into the bowl 8- put the yellow candy into the bowl 9- put the yellow candy into the bowl 10- put the yellow candy into the bowl 11- place the pink candy into the bowl 12- put the green candy into the bowl 13- place the green candy into the bowl 14- put the green candy into the bowl 15- place the green candy into the bowl 16- put the pink candy into the bowl 17- place the pink candy into the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the pink candy into the bowl 2- put the green candy into the bowl 3- put the green candy into the bowl 4- place the pink candy into the bowl 5- place the tong into the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the pink candy into the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the pink candy into the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please flip the bowls and pickup the yellow, pink and green candies from the floor and place them  in bowls. Then pick up the tongs from floor and place in bins. last 20 steps: 1- put the bowl upside right on the table 2- place the bowl upside right on the table 3- put the yellow candy into the bowl 4- put the yellow candy into the bowl 5- put the yellow candy into the bowl 6- put the yellow candy into the bowl 7- put the yellow candy into the bowl 8- put the yellow candy into the bowl 9- put the yellow candy into the bowl 10- put the yellow candy into the bowl 11- place the pink candy into the bowl 12- put the green candy into the bowl 13- place the green candy into the bowl 14- put the green candy into the bowl 15- place the green candy into the bowl 16- put the pink candy into the bowl 17- place the pink candy into the bowl Q: immediate next step? \u003cPRED\u003eA: put the pink candy into the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the pink candy into the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please flip the bowls and pickup the yellow, pink and green candies from the floor and place them  in bowls. Then pick up the tongs from floor and place in bins. Q: immediate next step? \u003cPRED\u003eA: put the pink candy into the bowl\n\u003c/PRED\u003e","video":"12161401682126339277.mp4"}
+{"uid":"5019417628803455872","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput redbull can in tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13137151159521600127.mp4"}
+{"uid":"7921076977866863127","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nGo to the door handle Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"954426918396104260.mp4"}
+{"uid":"5955860110244127837","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the blue marker in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16938027564358800738.mp4"}
+{"uid":"3084785628581113274","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the black packet in the right bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9932938650616494950.mp4"}
+{"uid":"11890576543546501943","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the pink candy into the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please flip the bowls and pickup the yellow, pink and green candies from the floor and place them  in bowls. Then pick up the tongs from floor and place in bins. last 20 steps: 1- put the bowl upside right on the table 2- place the bowl upside right on the table 3- put the yellow candy into the bowl 4- put the yellow candy into the bowl 5- put the yellow candy into the bowl 6- put the yellow candy into the bowl 7- put the yellow candy into the bowl 8- put the yellow candy into the bowl 9- put the yellow candy into the bowl 10- put the yellow candy into the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place the pink candy into the bowl 2- put the green candy into the bowl 3- place the green candy into the bowl 4- put the green candy into the bowl 5- place the green candy into the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the pink candy into the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please flip the bowls and pickup the yellow, pink and green candies from the floor and place them  in bowls. Then pick up the tongs from floor and place in bins. Q: immediate next step? \u003cPRED\u003eA: place the pink candy into the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the pink candy into the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please flip the bowls and pickup the yellow, pink and green candies from the floor and place them  in bowls. Then pick up the tongs from floor and place in bins. last 20 steps: 1- put the bowl upside right on the table 2- place the bowl upside right on the table 3- put the yellow candy into the bowl 4- put the yellow candy into the bowl 5- put the yellow candy into the bowl 6- put the yellow candy into the bowl 7- put the yellow candy into the bowl 8- put the yellow candy into the bowl 9- put the yellow candy into the bowl 10- put the yellow candy into the bowl Q: immediate next step? \u003cPRED\u003eA: place the pink candy into the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the pink candy into the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4639486659017938369.mp4"}
+{"uid":"11555390611710063485","text":"\u003ctask:success:discrete:False\u003e\nput the green candy into the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please flip the bowls and pickup the yellow, pink and green candies from the floor and place them  in bowls. Then pick up the tongs from floor and place in bins. last 20 steps: 1- put the bowl upside right on the table 2- place the bowl upside right on the table 3- put the yellow candy into the bowl 4- put the yellow candy into the bowl 5- put the yellow candy into the bowl 6- put the yellow candy into the bowl 7- put the yellow candy into the bowl 8- put the yellow candy into the bowl 9- put the yellow candy into the bowl 10- put the yellow candy into the bowl 11- place the pink candy into the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the green candy into the bowl 2- place the green candy into the bowl 3- put the green candy into the bowl 4- place the green candy into the bowl 5- put the pink candy into the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the green candy into the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please flip the bowls and pickup the yellow, pink and green candies from the floor and place them  in bowls. Then pick up the tongs from floor and place in bins. Q: immediate next step? \u003cPRED\u003eA: put the green candy into the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please flip the bowls and pickup the yellow, pink and green candies from the floor and place them  in bowls. Then pick up the tongs from floor and place in bins. last 20 steps: 1- put the bowl upside right on the table 2- place the bowl upside right on the table 3- put the yellow candy into the bowl 4- put the yellow candy into the bowl 5- put the yellow candy into the bowl 6- put the yellow candy into the bowl 7- put the yellow candy into the bowl 8- put the yellow candy into the bowl 9- put the yellow candy into the bowl 10- put the yellow candy into the bowl 11- place the pink candy into the bowl Q: immediate next step? \u003cPRED\u003eA: put the green candy into the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the green candy into the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the green candy into the bowl\n\u003c/PRED\u003e","video":"4204924606378032244.mp4"}
+{"uid":"7336190466246870204","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please flip the bowls and pickup the yellow, pink and green candies from the floor and place them  in bowls. Then pick up the tongs from floor and place in bins. last 20 steps: 1- put the bowl upside right on the table 2- place the bowl upside right on the table 3- put the yellow candy into the bowl 4- put the yellow candy into the bowl 5- put the yellow candy into the bowl 6- put the yellow candy into the bowl 7- put the yellow candy into the bowl 8- put the yellow candy into the bowl 9- put the yellow candy into the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the yellow candy into the bowl 2- place the pink candy into the bowl 3- put the green candy into the bowl 4- place the green candy into the bowl 5- put the green candy into the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please flip the bowls and pickup the yellow, pink and green candies from the floor and place them  in bowls. Then pick up the tongs from floor and place in bins. Q: immediate next step? \u003cPRED\u003eA: put the yellow candy into the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the yellow candy into the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the yellow candy into the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the yellow candy into the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the yellow candy into the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please flip the bowls and pickup the yellow, pink and green candies from the floor and place them  in bowls. Then pick up the tongs from floor and place in bins. last 20 steps: 1- put the bowl upside right on the table 2- place the bowl upside right on the table 3- put the yellow candy into the bowl 4- put the yellow candy into the bowl 5- put the yellow candy into the bowl 6- put the yellow candy into the bowl 7- put the yellow candy into the bowl 8- put the yellow candy into the bowl 9- put the yellow candy into the bowl Q: immediate next step? \u003cPRED\u003eA: put the yellow candy into the bowl\n\u003c/PRED\u003e","video":"5244254311989233213.mp4"}
+{"uid":"12651394309829266128","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the yellow candy into the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the yellow candy into the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please flip the bowls and pickup the yellow, pink and green candies from the floor and place them  in bowls. Then pick up the tongs from floor and place in bins. last 20 steps: 1- put the bowl upside right on the table 2- place the bowl upside right on the table 3- put the yellow candy into the bowl 4- put the yellow candy into the bowl Q: immediate next step? \u003cPRED\u003eA: put the yellow candy into the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please flip the bowls and pickup the yellow, pink and green candies from the floor and place them  in bowls. Then pick up the tongs from floor and place in bins. Q: immediate next step? \u003cPRED\u003eA: put the yellow candy into the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the yellow candy into the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please flip the bowls and pickup the yellow, pink and green candies from the floor and place them  in bowls. Then pick up the tongs from floor and place in bins. last 20 steps: 1- put the bowl upside right on the table 2- place the bowl upside right on the table 3- put the yellow candy into the bowl 4- put the yellow candy into the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the yellow candy into the bowl 2- put the yellow candy into the bowl 3- put the yellow candy into the bowl 4- put the yellow candy into the bowl 5- put the yellow candy into the bowl\n\u003c/PRED\u003e","video":"18148931470420985939.mp4"}
+{"uid":"13843193696954717798","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the orange in a bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15379769276511196114.mp4"}
+{"uid":"211481554592527671","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Please flip the bowls and pickup the yellow, pink and green candies from the floor and place them  in bowls. Then pick up the tongs from floor and place in bins. Q: immediate next step? \u003cPRED\u003eA: put the yellow candy into the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the yellow candy into the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please flip the bowls and pickup the yellow, pink and green candies from the floor and place them  in bowls. Then pick up the tongs from floor and place in bins. last 20 steps: 1- put the bowl upside right on the table 2- place the bowl upside right on the table 3- put the yellow candy into the bowl Q: immediate next step? \u003cPRED\u003eA: put the yellow candy into the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the yellow candy into the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the yellow candy into the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please flip the bowls and pickup the yellow, pink and green candies from the floor and place them  in bowls. Then pick up the tongs from floor and place in bins. last 20 steps: 1- put the bowl upside right on the table 2- place the bowl upside right on the table 3- put the yellow candy into the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the yellow candy into the bowl 2- put the yellow candy into the bowl 3- put the yellow candy into the bowl 4- put the yellow candy into the bowl 5- put the yellow candy into the bowl\n\u003c/PRED\u003e","video":"8851725989789353176.mp4"}
+{"uid":"15695912530781305791","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please flip the bowls and pickup the yellow, pink and green candies from the floor and place them  in bowls. Then pick up the tongs from floor and place in bins. last 20 steps: 1- put the yellow candy into the bowl 2- put the yellow candy into the bowl 3- put the yellow candy into the bowl 4- put the yellow candy into the bowl 5- put the yellow candy into the bowl 6- put the yellow candy into the bowl 7- put the yellow candy into the bowl 8- put the yellow candy into the bowl 9- place the pink candy into the bowl 10- put the green candy into the bowl 11- place the green candy into the bowl 12- put the green candy into the bowl 13- place the green candy into the bowl 14- put the pink candy into the bowl 15- place the pink candy into the bowl 16- put the pink candy into the bowl 17- put the green candy into the bowl 18- put the green candy into the bowl 19- place the pink candy into the bowl 20- place the tong into the holder Q: next 5 steps? \u003cPRED\u003eA: 1- put the tong into the holder 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please flip the bowls and pickup the yellow, pink and green candies from the floor and place them  in bowls. Then pick up the tongs from floor and place in bins. Q: immediate next step? \u003cPRED\u003eA: put the tong into the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the tong into the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please flip the bowls and pickup the yellow, pink and green candies from the floor and place them  in bowls. Then pick up the tongs from floor and place in bins. last 20 steps: 1- put the yellow candy into the bowl 2- put the yellow candy into the bowl 3- put the yellow candy into the bowl 4- put the yellow candy into the bowl 5- put the yellow candy into the bowl 6- put the yellow candy into the bowl 7- put the yellow candy into the bowl 8- put the yellow candy into the bowl 9- place the pink candy into the bowl 10- put the green candy into the bowl 11- place the green candy into the bowl 12- put the green candy into the bowl 13- place the green candy into the bowl 14- put the pink candy into the bowl 15- place the pink candy into the bowl 16- put the pink candy into the bowl 17- put the green candy into the bowl 18- put the green candy into the bowl 19- place the pink candy into the bowl 20- place the tong into the holder Q: immediate next step? \u003cPRED\u003eA: put the tong into the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the tong into the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the tong into the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the tong into the holder\n\u003c/PRED\u003e","video":"16131383142710201986.mp4"}
+{"uid":"15822786531377432921","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput packet in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12342700988815101530.mp4"}
+{"uid":"16771507087053051816","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop sugar packet in organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9210370863475646089.mp4"}
+{"uid":"2524806918444993991","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop glass on the stack of glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7432611704826817299.mp4"}
+{"uid":"17615176802840123647","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the pink candy into the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please flip the bowls and pickup the yellow, pink and green candies from the floor and place them  in bowls. Then pick up the tongs from floor and place in bins. Q: immediate next step? \u003cPRED\u003eA: place the pink candy into the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the pink candy into the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the pink candy into the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please flip the bowls and pickup the yellow, pink and green candies from the floor and place them  in bowls. Then pick up the tongs from floor and place in bins. last 20 steps: 1- put the bowl upside right on the table 2- place the bowl upside right on the table 3- put the yellow candy into the bowl 4- put the yellow candy into the bowl 5- put the yellow candy into the bowl 6- put the yellow candy into the bowl 7- put the yellow candy into the bowl 8- put the yellow candy into the bowl 9- put the yellow candy into the bowl 10- put the yellow candy into the bowl 11- place the pink candy into the bowl 12- put the green candy into the bowl 13- place the green candy into the bowl 14- put the green candy into the bowl 15- place the green candy into the bowl 16- put the pink candy into the bowl Q: immediate next step? \u003cPRED\u003eA: place the pink candy into the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please flip the bowls and pickup the yellow, pink and green candies from the floor and place them  in bowls. Then pick up the tongs from floor and place in bins. last 20 steps: 1- put the bowl upside right on the table 2- place the bowl upside right on the table 3- put the yellow candy into the bowl 4- put the yellow candy into the bowl 5- put the yellow candy into the bowl 6- put the yellow candy into the bowl 7- put the yellow candy into the bowl 8- put the yellow candy into the bowl 9- put the yellow candy into the bowl 10- put the yellow candy into the bowl 11- place the pink candy into the bowl 12- put the green candy into the bowl 13- place the green candy into the bowl 14- put the green candy into the bowl 15- place the green candy into the bowl 16- put the pink candy into the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place the pink candy into the bowl 2- put the pink candy into the bowl 3- put the green candy into the bowl 4- put the green candy into the bowl 5- place the pink candy into the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the pink candy into the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4766086950162837288.mp4"}
+{"uid":"12199613248698093962","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the green candy into the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the green candy into the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please flip the bowls and pickup the yellow, pink and green candies from the floor and place them  in bowls. Then pick up the tongs from floor and place in bins. Q: immediate next step? \u003cPRED\u003eA: place the green candy into the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please flip the bowls and pickup the yellow, pink and green candies from the floor and place them  in bowls. Then pick up the tongs from floor and place in bins. last 20 steps: 1- put the bowl upside right on the table 2- place the bowl upside right on the table 3- put the yellow candy into the bowl 4- put the yellow candy into the bowl 5- put the yellow candy into the bowl 6- put the yellow candy into the bowl 7- put the yellow candy into the bowl 8- put the yellow candy into the bowl 9- put the yellow candy into the bowl 10- put the yellow candy into the bowl 11- place the pink candy into the bowl 12- put the green candy into the bowl 13- place the green candy into the bowl 14- put the green candy into the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place the green candy into the bowl 2- put the pink candy into the bowl 3- place the pink candy into the bowl 4- put the pink candy into the bowl 5- put the green candy into the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the green candy into the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please flip the bowls and pickup the yellow, pink and green candies from the floor and place them  in bowls. Then pick up the tongs from floor and place in bins. last 20 steps: 1- put the bowl upside right on the table 2- place the bowl upside right on the table 3- put the yellow candy into the bowl 4- put the yellow candy into the bowl 5- put the yellow candy into the bowl 6- put the yellow candy into the bowl 7- put the yellow candy into the bowl 8- put the yellow candy into the bowl 9- put the yellow candy into the bowl 10- put the yellow candy into the bowl 11- place the pink candy into the bowl 12- put the green candy into the bowl 13- place the green candy into the bowl 14- put the green candy into the bowl Q: immediate next step? \u003cPRED\u003eA: place the green candy into the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the green candy into the bowl\n\u003c/PRED\u003e","video":"12951494602244362445.mp4"}
+{"uid":"15855903457996316907","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput orange packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7239370429644363698.mp4"}
+{"uid":"803378115110958264","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please flip the bowls and pickup the yellow, pink and green candies from the floor and place them  in bowls. Then pick up the tongs from floor and place in bins. last 20 steps: 1- put the yellow candy into the bowl 2- put the yellow candy into the bowl 3- put the yellow candy into the bowl 4- put the yellow candy into the bowl 5- put the yellow candy into the bowl 6- put the yellow candy into the bowl 7- put the yellow candy into the bowl 8- place the pink candy into the bowl 9- put the green candy into the bowl 10- place the green candy into the bowl 11- put the green candy into the bowl 12- place the green candy into the bowl 13- put the pink candy into the bowl 14- place the pink candy into the bowl 15- put the pink candy into the bowl 16- put the green candy into the bowl 17- put the green candy into the bowl 18- place the pink candy into the bowl 19- place the tong into the holder 20- put the tong into the holder Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please flip the bowls and pickup the yellow, pink and green candies from the floor and place them  in bowls. Then pick up the tongs from floor and place in bins. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the tong into the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please flip the bowls and pickup the yellow, pink and green candies from the floor and place them  in bowls. Then pick up the tongs from floor and place in bins. last 20 steps: 1- put the yellow candy into the bowl 2- put the yellow candy into the bowl 3- put the yellow candy into the bowl 4- put the yellow candy into the bowl 5- put the yellow candy into the bowl 6- put the yellow candy into the bowl 7- put the yellow candy into the bowl 8- place the pink candy into the bowl 9- put the green candy into the bowl 10- place the green candy into the bowl 11- put the green candy into the bowl 12- place the green candy into the bowl 13- put the pink candy into the bowl 14- place the pink candy into the bowl 15- put the pink candy into the bowl 16- put the green candy into the bowl 17- put the green candy into the bowl 18- place the pink candy into the bowl 19- place the tong into the holder 20- put the tong into the holder Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the tong into the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5914905907155893333.mp4"}
+{"uid":"1421712228097660499","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the glass in the stacking Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9183864912536523624.mp4"}
+{"uid":"1273831547185205827","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please flip the bowls and pickup the yellow, pink and green candies from the floor and place them  in bowls. Then pick up the tongs from floor and place in bins. last 20 steps: 1- put the bowl upside right on the table 2- place the bowl upside right on the table 3- put the yellow candy into the bowl 4- put the yellow candy into the bowl 5- put the yellow candy into the bowl 6- put the yellow candy into the bowl 7- put the yellow candy into the bowl 8- put the yellow candy into the bowl 9- put the yellow candy into the bowl 10- put the yellow candy into the bowl 11- place the pink candy into the bowl 12- put the green candy into the bowl 13- place the green candy into the bowl 14- put the green candy into the bowl 15- place the green candy into the bowl 16- put the pink candy into the bowl 17- place the pink candy into the bowl 18- put the pink candy into the bowl 19- put the green candy into the bowl Q: immediate next step? \u003cPRED\u003eA: put the green candy into the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the green candy into the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the green candy into the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please flip the bowls and pickup the yellow, pink and green candies from the floor and place them  in bowls. Then pick up the tongs from floor and place in bins. Q: immediate next step? \u003cPRED\u003eA: put the green candy into the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the green candy into the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please flip the bowls and pickup the yellow, pink and green candies from the floor and place them  in bowls. Then pick up the tongs from floor and place in bins. last 20 steps: 1- put the bowl upside right on the table 2- place the bowl upside right on the table 3- put the yellow candy into the bowl 4- put the yellow candy into the bowl 5- put the yellow candy into the bowl 6- put the yellow candy into the bowl 7- put the yellow candy into the bowl 8- put the yellow candy into the bowl 9- put the yellow candy into the bowl 10- put the yellow candy into the bowl 11- place the pink candy into the bowl 12- put the green candy into the bowl 13- place the green candy into the bowl 14- put the green candy into the bowl 15- place the green candy into the bowl 16- put the pink candy into the bowl 17- place the pink candy into the bowl 18- put the pink candy into the bowl 19- put the green candy into the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the green candy into the bowl 2- place the pink candy into the bowl 3- place the tong into the holder 4- put the tong into the holder 5- done\n\u003c/PRED\u003e","video":"12584147442882620383.mp4"}
+{"uid":"4522515043416585539","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pink candy into the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the pink candy into the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please flip the bowls and pickup the yellow, pink and green candies from the floor and place them  in bowls. Then pick up the tongs from floor and place in bins. last 20 steps: 1- put the bowl upside right on the table 2- place the bowl upside right on the table 3- put the yellow candy into the bowl 4- put the yellow candy into the bowl 5- put the yellow candy into the bowl 6- put the yellow candy into the bowl 7- put the yellow candy into the bowl 8- put the yellow candy into the bowl 9- put the yellow candy into the bowl 10- put the yellow candy into the bowl 11- place the pink candy into the bowl 12- put the green candy into the bowl 13- place the green candy into the bowl 14- put the green candy into the bowl 15- place the green candy into the bowl Q: immediate next step? \u003cPRED\u003eA: put the pink candy into the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the pink candy into the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the pink candy into the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please flip the bowls and pickup the yellow, pink and green candies from the floor and place them  in bowls. Then pick up the tongs from floor and place in bins. last 20 steps: 1- put the bowl upside right on the table 2- place the bowl upside right on the table 3- put the yellow candy into the bowl 4- put the yellow candy into the bowl 5- put the yellow candy into the bowl 6- put the yellow candy into the bowl 7- put the yellow candy into the bowl 8- put the yellow candy into the bowl 9- put the yellow candy into the bowl 10- put the yellow candy into the bowl 11- place the pink candy into the bowl 12- put the green candy into the bowl 13- place the green candy into the bowl 14- put the green candy into the bowl 15- place the green candy into the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the pink candy into the bowl 2- place the pink candy into the bowl 3- put the pink candy into the bowl 4- put the green candy into the bowl 5- put the green candy into the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please flip the bowls and pickup the yellow, pink and green candies from the floor and place them  in bowls. Then pick up the tongs from floor and place in bins. Q: immediate next step? \u003cPRED\u003eA: put the pink candy into the bowl\n\u003c/PRED\u003e","video":"17871005530635118458.mp4"}
+{"uid":"11369154356785295003","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up bottle Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16286573945709125197.mp4"}
+{"uid":"13995617876187987794","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the yellow candy into the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the yellow candy into the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8576094304063163458.mp4"}
+{"uid":"10000313250530296724","text":"\u003ctask:success:discrete:False\u003e\nplace the bowl upside right on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the bowl upside right on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please flip the bowls and pickup the yellow, pink and green candies from the floor and place them  in bowls. Then pick up the tongs from floor and place in bins. last 20 steps: 1- put the bowl upside right on the table Q: immediate next step? \u003cPRED\u003eA: place the bowl upside right on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the bowl upside right on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the bowl upside right on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please flip the bowls and pickup the yellow, pink and green candies from the floor and place them  in bowls. Then pick up the tongs from floor and place in bins. last 20 steps: 1- put the bowl upside right on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the bowl upside right on the table 2- put the yellow candy into the bowl 3- put the yellow candy into the bowl 4- put the yellow candy into the bowl 5- put the yellow candy into the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please flip the bowls and pickup the yellow, pink and green candies from the floor and place them  in bowls. Then pick up the tongs from floor and place in bins. Q: immediate next step? \u003cPRED\u003eA: place the bowl upside right on the table\n\u003c/PRED\u003e","video":"4108107092397029985.mp4"}
+{"uid":"10429215496776235802","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the coffee cereals in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17075158199796673907.mp4"}
+{"uid":"1933138235011069717","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop Pistachio nut into glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4128865172499882931.mp4"}
+{"uid":"9359579449673930488","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput candy in tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13807438705550631045.mp4"}
+{"uid":"7292604684974868689","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nupright the  glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2990434766778257458.mp4"}
+{"uid":"2915354828933651355","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the black pen in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8335304363495097770.mp4"}
+{"uid":"2014403745402618731","text":"\u003ctask:success:discrete:True\u003e\nput the bowl upside right on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the bowl upside right on the table\n\u003c/PRED\u003e","video":"3677645087943122764.mp4"}
+{"uid":"3296208917140373905","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the pens in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2364178172130011417.mp4"}
+{"uid":"14123591699661874838","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Please flip the bowls and pickup the yellow, pink and green candies from the floor and place them  in bowls. Then pick up the tongs from floor and place in bins. Q: immediate next step? \u003cPRED\u003eA: put the yellow candy into the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please flip the bowls and pickup the yellow, pink and green candies from the floor and place them  in bowls. Then pick up the tongs from floor and place in bins. last 20 steps: 1- put the bowl upside right on the table 2- place the bowl upside right on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put the yellow candy into the bowl 2- put the yellow candy into the bowl 3- put the yellow candy into the bowl 4- put the yellow candy into the bowl 5- put the yellow candy into the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the yellow candy into the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the yellow candy into the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please flip the bowls and pickup the yellow, pink and green candies from the floor and place them  in bowls. Then pick up the tongs from floor and place in bins. last 20 steps: 1- put the bowl upside right on the table 2- place the bowl upside right on the table Q: immediate next step? \u003cPRED\u003eA: put the yellow candy into the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the yellow candy into the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the yellow candy into the bowl\n\u003c/PRED\u003e","video":"8739640277246643972.mp4"}
+{"uid":"3176939411195333092","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the yellow candy into the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please flip the bowls and pickup the yellow, pink and green candies from the floor and place them  in bowls. Then pick up the tongs from floor and place in bins. last 20 steps: 1- put the bowl upside right on the table 2- place the bowl upside right on the table 3- put the yellow candy into the bowl 4- put the yellow candy into the bowl 5- put the yellow candy into the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the yellow candy into the bowl 2- put the yellow candy into the bowl 3- put the yellow candy into the bowl 4- put the yellow candy into the bowl 5- put the yellow candy into the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the yellow candy into the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the yellow candy into the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please flip the bowls and pickup the yellow, pink and green candies from the floor and place them  in bowls. Then pick up the tongs from floor and place in bins. Q: immediate next step? \u003cPRED\u003eA: put the yellow candy into the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please flip the bowls and pickup the yellow, pink and green candies from the floor and place them  in bowls. Then pick up the tongs from floor and place in bins. last 20 steps: 1- put the bowl upside right on the table 2- place the bowl upside right on the table 3- put the yellow candy into the bowl 4- put the yellow candy into the bowl 5- put the yellow candy into the bowl Q: immediate next step? \u003cPRED\u003eA: put the yellow candy into the bowl\n\u003c/PRED\u003e","video":"15540971663260888624.mp4"}
+{"uid":"114059047287670113","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nrelease the black cable in the cardboard box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17260530076894119347.mp4"}
+{"uid":"12824916419354826117","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please flip the bowls and pickup the yellow, pink and green candies from the floor and place them  in bowls. Then pick up the tongs from floor and place in bins. last 20 steps: 1- put the bowl upside right on the table 2- place the bowl upside right on the table 3- put the yellow candy into the bowl 4- put the yellow candy into the bowl 5- put the yellow candy into the bowl 6- put the yellow candy into the bowl Q: immediate next step? \u003cPRED\u003eA: put the yellow candy into the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the yellow candy into the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the yellow candy into the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the yellow candy into the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please flip the bowls and pickup the yellow, pink and green candies from the floor and place them  in bowls. Then pick up the tongs from floor and place in bins. Q: immediate next step? \u003cPRED\u003eA: put the yellow candy into the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please flip the bowls and pickup the yellow, pink and green candies from the floor and place them  in bowls. Then pick up the tongs from floor and place in bins. last 20 steps: 1- put the bowl upside right on the table 2- place the bowl upside right on the table 3- put the yellow candy into the bowl 4- put the yellow candy into the bowl 5- put the yellow candy into the bowl 6- put the yellow candy into the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the yellow candy into the bowl 2- put the yellow candy into the bowl 3- put the yellow candy into the bowl 4- put the yellow candy into the bowl 5- place the pink candy into the bowl\n\u003c/PRED\u003e","video":"1205217647228494622.mp4"}
+{"uid":"17186785304111061113","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nThrow glass in trash bin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15952991345963718007.mp4"}
+{"uid":"6448052904720502587","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the green candy into the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please flip the bowls and pickup the yellow, pink and green candies from the floor and place them  in bowls. Then pick up the tongs from floor and place in bins. Q: immediate next step? \u003cPRED\u003eA: put the green candy into the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the green candy into the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the green candy into the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please flip the bowls and pickup the yellow, pink and green candies from the floor and place them  in bowls. Then pick up the tongs from floor and place in bins. last 20 steps: 1- put the bowl upside right on the table 2- place the bowl upside right on the table 3- put the yellow candy into the bowl 4- put the yellow candy into the bowl 5- put the yellow candy into the bowl 6- put the yellow candy into the bowl 7- put the yellow candy into the bowl 8- put the yellow candy into the bowl 9- put the yellow candy into the bowl 10- put the yellow candy into the bowl 11- place the pink candy into the bowl 12- put the green candy into the bowl 13- place the green candy into the bowl 14- put the green candy into the bowl 15- place the green candy into the bowl 16- put the pink candy into the bowl 17- place the pink candy into the bowl 18- put the pink candy into the bowl Q: immediate next step? \u003cPRED\u003eA: put the green candy into the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please flip the bowls and pickup the yellow, pink and green candies from the floor and place them  in bowls. Then pick up the tongs from floor and place in bins. last 20 steps: 1- put the bowl upside right on the table 2- place the bowl upside right on the table 3- put the yellow candy into the bowl 4- put the yellow candy into the bowl 5- put the yellow candy into the bowl 6- put the yellow candy into the bowl 7- put the yellow candy into the bowl 8- put the yellow candy into the bowl 9- put the yellow candy into the bowl 10- put the yellow candy into the bowl 11- place the pink candy into the bowl 12- put the green candy into the bowl 13- place the green candy into the bowl 14- put the green candy into the bowl 15- place the green candy into the bowl 16- put the pink candy into the bowl 17- place the pink candy into the bowl 18- put the pink candy into the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the green candy into the bowl 2- put the green candy into the bowl 3- place the pink candy into the bowl 4- place the tong into the holder 5- put the tong into the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the green candy into the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16938442234069593527.mp4"}
+{"uid":"13019817289342881075","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please flip the bowls and pickup the yellow, pink and green candies from the floor and place them  in bowls. Then pick up the tongs from floor and place in bins. last 20 steps: 1- put the bowl upside right on the table 2- place the bowl upside right on the table 3- put the yellow candy into the bowl 4- put the yellow candy into the bowl 5- put the yellow candy into the bowl 6- put the yellow candy into the bowl 7- put the yellow candy into the bowl 8- put the yellow candy into the bowl 9- put the yellow candy into the bowl 10- put the yellow candy into the bowl 11- place the pink candy into the bowl 12- put the green candy into the bowl 13- place the green candy into the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the green candy into the bowl 2- place the green candy into the bowl 3- put the pink candy into the bowl 4- place the pink candy into the bowl 5- put the pink candy into the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the green candy into the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the green candy into the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the green candy into the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please flip the bowls and pickup the yellow, pink and green candies from the floor and place them  in bowls. Then pick up the tongs from floor and place in bins. Q: immediate next step? \u003cPRED\u003eA: put the green candy into the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please flip the bowls and pickup the yellow, pink and green candies from the floor and place them  in bowls. Then pick up the tongs from floor and place in bins. last 20 steps: 1- put the bowl upside right on the table 2- place the bowl upside right on the table 3- put the yellow candy into the bowl 4- put the yellow candy into the bowl 5- put the yellow candy into the bowl 6- put the yellow candy into the bowl 7- put the yellow candy into the bowl 8- put the yellow candy into the bowl 9- put the yellow candy into the bowl 10- put the yellow candy into the bowl 11- place the pink candy into the bowl 12- put the green candy into the bowl 13- place the green candy into the bowl Q: immediate next step? \u003cPRED\u003eA: put the green candy into the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the green candy into the bowl\n\u003c/PRED\u003e","video":"16427489831550007082.mp4"}
+{"uid":"3299338416240754434","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the chocolate on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8998636097554187357.mp4"}
+{"uid":"712147347028719454","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the green candy into the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the green candy into the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please flip the bowls and pickup the yellow, pink and green candies from the floor and place them  in bowls. Then pick up the tongs from floor and place in bins. last 20 steps: 1- put the bowl upside right on the table 2- place the bowl upside right on the table 3- put the yellow candy into the bowl 4- put the yellow candy into the bowl 5- put the yellow candy into the bowl 6- put the yellow candy into the bowl 7- put the yellow candy into the bowl 8- put the yellow candy into the bowl 9- put the yellow candy into the bowl 10- put the yellow candy into the bowl 11- place the pink candy into the bowl 12- put the green candy into the bowl Q: immediate next step? \u003cPRED\u003eA: place the green candy into the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the green candy into the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please flip the bowls and pickup the yellow, pink and green candies from the floor and place them  in bowls. Then pick up the tongs from floor and place in bins. Q: immediate next step? \u003cPRED\u003eA: place the green candy into the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please flip the bowls and pickup the yellow, pink and green candies from the floor and place them  in bowls. Then pick up the tongs from floor and place in bins. last 20 steps: 1- put the bowl upside right on the table 2- place the bowl upside right on the table 3- put the yellow candy into the bowl 4- put the yellow candy into the bowl 5- put the yellow candy into the bowl 6- put the yellow candy into the bowl 7- put the yellow candy into the bowl 8- put the yellow candy into the bowl 9- put the yellow candy into the bowl 10- put the yellow candy into the bowl 11- place the pink candy into the bowl 12- put the green candy into the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place the green candy into the bowl 2- put the green candy into the bowl 3- place the green candy into the bowl 4- put the pink candy into the bowl 5- place the pink candy into the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the green candy into the bowl\n\u003c/PRED\u003e","video":"17313250604310432137.mp4"}
+{"uid":"5597177839339430658","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the blue packet in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17886058320263124884.mp4"}
+{"uid":"12277781688850266337","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please flip the bowls and pickup the yellow, pink and green candies from the floor and place them  in bowls. Then pick up the tongs from floor and place in bins. last 20 steps: 1- put the bowl upside right on the table 2- place the bowl upside right on the table 3- put the yellow candy into the bowl 4- put the yellow candy into the bowl 5- put the yellow candy into the bowl 6- put the yellow candy into the bowl 7- put the yellow candy into the bowl 8- put the yellow candy into the bowl 9- put the yellow candy into the bowl 10- put the yellow candy into the bowl 11- place the pink candy into the bowl 12- put the green candy into the bowl 13- place the green candy into the bowl 14- put the green candy into the bowl 15- place the green candy into the bowl 16- put the pink candy into the bowl 17- place the pink candy into the bowl 18- put the pink candy into the bowl 19- put the green candy into the bowl 20- put the green candy into the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place the pink candy into the bowl 2- place the tong into the holder 3- put the tong into the holder 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the pink candy into the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the pink candy into the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please flip the bowls and pickup the yellow, pink and green candies from the floor and place them  in bowls. Then pick up the tongs from floor and place in bins. Q: immediate next step? \u003cPRED\u003eA: place the pink candy into the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the pink candy into the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the pink candy into the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please flip the bowls and pickup the yellow, pink and green candies from the floor and place them  in bowls. Then pick up the tongs from floor and place in bins. last 20 steps: 1- put the bowl upside right on the table 2- place the bowl upside right on the table 3- put the yellow candy into the bowl 4- put the yellow candy into the bowl 5- put the yellow candy into the bowl 6- put the yellow candy into the bowl 7- put the yellow candy into the bowl 8- put the yellow candy into the bowl 9- put the yellow candy into the bowl 10- put the yellow candy into the bowl 11- place the pink candy into the bowl 12- put the green candy into the bowl 13- place the green candy into the bowl 14- put the green candy into the bowl 15- place the green candy into the bowl 16- put the pink candy into the bowl 17- place the pink candy into the bowl 18- put the pink candy into the bowl 19- put the green candy into the bowl 20- put the green candy into the bowl Q: immediate next step? \u003cPRED\u003eA: place the pink candy into the bowl\n\u003c/PRED\u003e","video":"13150744401534435079.mp4"}
+{"uid":"8736009978543900239","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the 7up can in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18438533652699169021.mp4"}
+{"uid":"3442927137644494544","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the bowl upside right on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the bowl upside right on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8463300523849353063.mp4"}
+{"uid":"10835545147600885831","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the tong into the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the tong into the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18297533096197340696.mp4"}
+{"uid":"3603685106688715711","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove away Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6057019417954495477.mp4"}
+{"uid":"1194848117088634780","text":"\u003ctask:success:discrete:True\u003e\nplace the pear in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the pear in the bowl\n\u003c/PRED\u003e","video":"9163828503785002316.mp4"}
+{"uid":"11826512024056723660","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the pear in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please grab all the pears in the top drawer and put them into the bowl on the table. Close drawer when you are done Q: immediate next step? \u003cPRED\u003eA: place the pear in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please grab all the pears in the top drawer and put them into the bowl on the table. Close drawer when you are done. last 20 steps: 1- open the drawer 2- place the pear in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place the pear in the bowl 2- place the pear in the bowl 3- place the pear in the bowl 4- place the pear in the bowl 5- close the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the pear in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please grab all the pears in the top drawer and put them into the bowl on the table. Close drawer when you are done. last 20 steps: 1- open the drawer 2- place the pear in the bowl Q: immediate next step? \u003cPRED\u003eA: place the pear in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the pear in the bowl\n\u003c/PRED\u003e","video":"9482185214884272139.mp4"}
+{"uid":"8173781805060772683","text":"\u003ctask:success:discrete:False\u003e\nplace the pear in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please grab all the pears in the top drawer and put them into the bowl on the table. Close drawer when you are done. last 20 steps: 1- open the drawer Q: immediate next step? \u003cPRED\u003eA: place the pear in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please grab all the pears in the top drawer and put them into the bowl on the table. Close drawer when you are done Q: immediate next step? \u003cPRED\u003eA: place the pear in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the pear in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please grab all the pears in the top drawer and put them into the bowl on the table. Close drawer when you are done. last 20 steps: 1- open the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- place the pear in the bowl 2- place the pear in the bowl 3- place the pear in the bowl 4- place the pear in the bowl 5- place the pear in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the pear in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the pear in the bowl\n\u003c/PRED\u003e","video":"2165721202563170627.mp4"}
+{"uid":"5634330578014852989","text":"\u003ctask:success:discrete:True\u003e\nPut sanitizer on the rack. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the hand sanitizer back into the supply cart in the conference room Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the hand sanitizer back into the supply cart in the conference room. last 20 steps: 1- Put sanitizer on the rack. Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the hand sanitizer back into the supply cart in the conference room. last 20 steps: 1- Put sanitizer on the rack. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put sanitizer on the rack.\n\u003c/PRED\u003e","video":"2448256965245948123.mp4"}
+{"uid":"9436001429794731160","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove away from the file Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5151137593933152736.mp4"}
+{"uid":"17557744800745111963","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: can you grab me a bowl of pistachios from the MK? Q: immediate next step? \u003cPRED\u003eA: put lid on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput lid on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you grab me a bowl of pistachios from the MK?. last 20 steps: 1- put the paper bowl upright on the table 2- open the lid Q: next 5 steps? \u003cPRED\u003eA: 1- put lid on the table 2- pick up the scoop 3- put pistas in the paper bowl 4- put pistas in the paper bowl 5- put pistas in the paper bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you grab me a bowl of pistachios from the MK?. last 20 steps: 1- put the paper bowl upright on the table 2- open the lid Q: immediate next step? \u003cPRED\u003eA: put lid on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put lid on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put lid on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput lid on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16381838232200731107.mp4"}
+{"uid":"17622070919214464398","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the pen in the pen stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"272818986042770428.mp4"}
+{"uid":"7818636854334949838","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you pour out the water from the cup into the sink and then throw away the cup?. last 20 steps: 1- put the glass on the counter top 2- through the lid in the bin 3- throw the water in the sink Q: next 5 steps? \u003cPRED\u003eA: 1- throw the glass in the bin 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nthrow the glass in the bin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nthrow the water in the sink Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you pour out the water from the cup into the sink and then throw away the cup?. last 20 steps: 1- put the glass on the counter top 2- through the lid in the bin 3- throw the water in the sink Q: immediate next step? \u003cPRED\u003eA: throw the glass in the bin\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: throw the glass in the bin\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: throw the water in the sink\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nthrow the glass in the bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you pour out the water from the cup into the sink and then throw away the cup? Q: immediate next step? \u003cPRED\u003eA: throw the glass in the bin\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: throw the glass in the bin\n\u003c/PRED\u003e","video":"11440613534456501672.mp4"}
+{"uid":"11758061385613089809","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace apple in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13962853734084003692.mp4"}
+{"uid":"1244642883212160135","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put pistas in the paper bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput pistas in the paper bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9296509535621864308.mp4"}
+{"uid":"5454779171268106810","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the red bull can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7721442982046397490.mp4"}
+{"uid":"3902266861545291816","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you grab me a bowl of pistachios from the MK?. last 20 steps: 1- put the paper bowl upright on the table 2- open the lid 3- put lid on the table 4- pick up the scoop 5- put pistas in the paper bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put pistas in the paper bowl 2- put pistas in the paper bowl 3- put scoop in the holder 4- put the lid on the jar 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput pistas in the paper bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you grab me a bowl of pistachios from the MK?. last 20 steps: 1- put the paper bowl upright on the table 2- open the lid 3- put lid on the table 4- pick up the scoop 5- put pistas in the paper bowl Q: immediate next step? \u003cPRED\u003eA: put pistas in the paper bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put pistas in the paper bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you grab me a bowl of pistachios from the MK? Q: immediate next step? \u003cPRED\u003eA: put pistas in the paper bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put pistas in the paper bowl\n\u003c/PRED\u003e","video":"1701850219568752667.mp4"}
+{"uid":"293865636591768877","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput 8 candy in a tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14892977745392880687.mp4"}
+{"uid":"15001771803395282310","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put pistas in the paper bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput pistas in the paper bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15848110831084067454.mp4"}
+{"uid":"11977965310713812875","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please grab all the pears in the top drawer and put them into the bowl on the table. Close drawer when you are done. last 20 steps: 1- open the drawer 2- place the pear in the bowl 3- place the pear in the bowl Q: immediate next step? \u003cPRED\u003eA: place the pear in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the pear in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please grab all the pears in the top drawer and put them into the bowl on the table. Close drawer when you are done Q: immediate next step? \u003cPRED\u003eA: place the pear in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the pear in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please grab all the pears in the top drawer and put them into the bowl on the table. Close drawer when you are done. last 20 steps: 1- open the drawer 2- place the pear in the bowl 3- place the pear in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place the pear in the bowl 2- place the pear in the bowl 3- place the pear in the bowl 4- close the drawer 5- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the pear in the bowl\n\u003c/PRED\u003e","video":"18052489436462862644.mp4"}
+{"uid":"11268794090215091289","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace water bottle in the fridge Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18253101070153557251.mp4"}
+{"uid":"3767610269078355908","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up the white snacks packet from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12742266077686092104.mp4"}
+{"uid":"6227461504518536882","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you grab me a bowl of pistachios from the MK?. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put the paper bowl upright on the table 2- open the lid 3- put lid on the table 4- pick up the scoop 5- put pistas in the paper bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the paper bowl upright on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you grab me a bowl of pistachios from the MK?. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put the paper bowl upright on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the paper bowl upright on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the paper bowl upright on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the paper bowl upright on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you grab me a bowl of pistachios from the MK? Q: immediate next step? \u003cPRED\u003eA: put the paper bowl upright on the table\n\u003c/PRED\u003e","video":"17533288000308059421.mp4"}
+{"uid":"14725203603580708019","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: throw the glass in the bin\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nthrow the glass in the bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you pour out the water from the cup into the sink and then throw away the cup? Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you pour out the water from the cup into the sink and then throw away the cup?. last 20 steps: 1- put the glass on the counter top 2- through the lid in the bin 3- throw the water in the sink 4- throw the glass in the bin Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you pour out the water from the cup into the sink and then throw away the cup?. last 20 steps: 1- put the glass on the counter top 2- through the lid in the bin 3- throw the water in the sink 4- throw the glass in the bin Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"1511965992965646982.mp4"}
+{"uid":"11180526123657979734","text":"\u003ctask:success:discrete:True\u003e\nthrough the lid in the bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: through the lid in the bin\n\u003c/PRED\u003e","video":"1141653461782040664.mp4"}
+{"uid":"14487464659140087505","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you grab me a bowl of pistachios from the MK?. last 20 steps: 1- put the paper bowl upright on the table 2- open the lid 3- put lid on the table 4- pick up the scoop 5- put pistas in the paper bowl 6- put pistas in the paper bowl 7- put pistas in the paper bowl Q: immediate next step? \u003cPRED\u003eA: put scoop in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput scoop in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put scoop in the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put scoop in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput scoop in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you grab me a bowl of pistachios from the MK? Q: immediate next step? \u003cPRED\u003eA: put scoop in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you grab me a bowl of pistachios from the MK?. last 20 steps: 1- put the paper bowl upright on the table 2- open the lid 3- put lid on the table 4- pick up the scoop 5- put pistas in the paper bowl 6- put pistas in the paper bowl 7- put pistas in the paper bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put scoop in the holder 2- put the lid on the jar 3- done\n\u003c/PRED\u003e","video":"16967200359265543457.mp4"}
+{"uid":"8480086691173246917","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the scoop\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you grab me a bowl of pistachios from the MK?. last 20 steps: 1- put the paper bowl upright on the table 2- open the lid 3- put lid on the table Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the scoop 2- put pistas in the paper bowl 3- put pistas in the paper bowl 4- put pistas in the paper bowl 5- put scoop in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the scoop Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the scoop Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the scoop\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you grab me a bowl of pistachios from the MK?. last 20 steps: 1- put the paper bowl upright on the table 2- open the lid 3- put lid on the table Q: immediate next step? \u003cPRED\u003eA: pick up the scoop\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you grab me a bowl of pistachios from the MK? Q: immediate next step? \u003cPRED\u003eA: pick up the scoop\n\u003c/PRED\u003e","video":"13340267077340239838.mp4"}
+{"uid":"12580209775798070760","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the apple on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17122050324332006701.mp4"}
+{"uid":"14660891953903695917","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut sanitizer on the rack. Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put sanitizer on the rack.\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put sanitizer on the rack.\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the hand sanitizer back into the supply cart in the conference room Q: immediate next step? \u003cPRED\u003eA: Put sanitizer on the rack.\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the hand sanitizer back into the supply cart in the conference room. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Put sanitizer on the rack. 2- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut sanitizer on the rack. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the hand sanitizer back into the supply cart in the conference room. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Put sanitizer on the rack.\n\u003c/PRED\u003e","video":"2408557950994485863.mp4"}
+{"uid":"16026763423442047802","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop the cloth in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11462558612454609642.mp4"}
+{"uid":"3696156120485853595","text":"\u003ctask:success:discrete:True\u003e\nput the lid on the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you grab me a bowl of pistachios from the MK?. last 20 steps: 1- put the paper bowl upright on the table 2- open the lid 3- put lid on the table 4- pick up the scoop 5- put pistas in the paper bowl 6- put pistas in the paper bowl 7- put pistas in the paper bowl 8- put scoop in the holder 9- put the lid on the jar Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you grab me a bowl of pistachios from the MK? Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you grab me a bowl of pistachios from the MK?. last 20 steps: 1- put the paper bowl upright on the table 2- open the lid 3- put lid on the table 4- pick up the scoop 5- put pistas in the paper bowl 6- put pistas in the paper bowl 7- put pistas in the paper bowl 8- put scoop in the holder 9- put the lid on the jar Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the lid on the jar\n\u003c/PRED\u003e","video":"1314402438213018595.mp4"}
+{"uid":"6414164310956914149","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove the left file downwards. Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9793955532830029070.mp4"}
+{"uid":"8701679740294213069","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nkeep one glass from stack onto table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13043100209554315118.mp4"}
+{"uid":"5140176557749285343","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop apple into tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8785509790719563959.mp4"}
+{"uid":"8926807338133424567","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please grab all the pears in the top drawer and put them into the bowl on the table. Close drawer when you are done. last 20 steps: 1- open the drawer 2- place the pear in the bowl 3- place the pear in the bowl 4- place the pear in the bowl 5- place the pear in the bowl 6- place the pear in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- close the drawer 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please grab all the pears in the top drawer and put them into the bowl on the table. Close drawer when you are done Q: immediate next step? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nclose the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please grab all the pears in the top drawer and put them into the bowl on the table. Close drawer when you are done. last 20 steps: 1- open the drawer 2- place the pear in the bowl 3- place the pear in the bowl 4- place the pear in the bowl 5- place the pear in the bowl 6- place the pear in the bowl Q: immediate next step? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nclose the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10195999349566919870.mp4"}
+{"uid":"10332035257583641633","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you grab me a bowl of pistachios from the MK?. last 20 steps: 1- put the paper bowl upright on the table Q: next 5 steps? \u003cPRED\u003eA: 1- open the lid 2- put lid on the table 3- pick up the scoop 4- put pistas in the paper bowl 5- put pistas in the paper bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nopen the lid Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open the lid\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you grab me a bowl of pistachios from the MK? Q: immediate next step? \u003cPRED\u003eA: open the lid\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you grab me a bowl of pistachios from the MK?. last 20 steps: 1- put the paper bowl upright on the table Q: immediate next step? \u003cPRED\u003eA: open the lid\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open the lid\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nopen the lid Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12936527054691767308.mp4"}
+{"uid":"6212435772771783957","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the glass on the counter top\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you pour out the water from the cup into the sink and then throw away the cup?. last 20 steps: 1- put the glass on the counter top Q: immediate next step? \u003cPRED\u003eA: through the lid in the bin\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nthrough the lid in the bin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you pour out the water from the cup into the sink and then throw away the cup?. last 20 steps: 1- put the glass on the counter top Q: next 5 steps? \u003cPRED\u003eA: 1- through the lid in the bin 2- throw the water in the sink 3- throw the glass in the bin 4- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nthrough the lid in the bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you pour out the water from the cup into the sink and then throw away the cup? Q: immediate next step? \u003cPRED\u003eA: through the lid in the bin\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: through the lid in the bin\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the glass on the counter top Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: through the lid in the bin\n\u003c/PRED\u003e","video":"2475480970495044397.mp4"}
+{"uid":"1763322925337273171","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you pour out the water from the cup into the sink and then throw away the cup?. last 20 steps: 1- put the glass on the counter top 2- through the lid in the bin Q: immediate next step? \u003cPRED\u003eA: throw the water in the sink\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you pour out the water from the cup into the sink and then throw away the cup?. last 20 steps: 1- put the glass on the counter top 2- through the lid in the bin Q: next 5 steps? \u003cPRED\u003eA: 1- throw the water in the sink 2- throw the glass in the bin 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nthrow the water in the sink Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you pour out the water from the cup into the sink and then throw away the cup? Q: immediate next step? \u003cPRED\u003eA: throw the water in the sink\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: throw the water in the sink\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: throw the water in the sink\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nthrow the water in the sink Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11601982131743600737.mp4"}
+{"uid":"16927793176806404952","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pistachio in the paper cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4794191399670262755.mp4"}
+{"uid":"17898472694741530244","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Please grab all the pears in the top drawer and put them into the bowl on the table. Close drawer when you are done Q: immediate next step? \u003cPRED\u003eA: place the pear in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the pear in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the pear in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the pear in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please grab all the pears in the top drawer and put them into the bowl on the table. Close drawer when you are done. last 20 steps: 1- open the drawer 2- place the pear in the bowl 3- place the pear in the bowl 4- place the pear in the bowl 5- place the pear in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place the pear in the bowl 2- close the drawer 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please grab all the pears in the top drawer and put them into the bowl on the table. Close drawer when you are done. last 20 steps: 1- open the drawer 2- place the pear in the bowl 3- place the pear in the bowl 4- place the pear in the bowl 5- place the pear in the bowl Q: immediate next step? \u003cPRED\u003eA: place the pear in the bowl\n\u003c/PRED\u003e","video":"7413334118643489326.mp4"}
+{"uid":"16741355101923588278","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put pistas in the paper bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput pistas in the paper bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you grab me a bowl of pistachios from the MK?. last 20 steps: 1- put the paper bowl upright on the table 2- open the lid 3- put lid on the table 4- pick up the scoop Q: next 5 steps? \u003cPRED\u003eA: 1- put pistas in the paper bowl 2- put pistas in the paper bowl 3- put pistas in the paper bowl 4- put scoop in the holder 5- put the lid on the jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you grab me a bowl of pistachios from the MK? Q: immediate next step? \u003cPRED\u003eA: put pistas in the paper bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you grab me a bowl of pistachios from the MK?. last 20 steps: 1- put the paper bowl upright on the table 2- open the lid 3- put lid on the table 4- pick up the scoop Q: immediate next step? \u003cPRED\u003eA: put pistas in the paper bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput pistas in the paper bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put pistas in the paper bowl\n\u003c/PRED\u003e","video":"10424040007565095619.mp4"}
+{"uid":"18390232014951344446","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the lid on the jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you grab me a bowl of pistachios from the MK? Q: immediate next step? \u003cPRED\u003eA: put the lid on the jar\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you grab me a bowl of pistachios from the MK?. last 20 steps: 1- put the paper bowl upright on the table 2- open the lid 3- put lid on the table 4- pick up the scoop 5- put pistas in the paper bowl 6- put pistas in the paper bowl 7- put pistas in the paper bowl 8- put scoop in the holder Q: immediate next step? \u003cPRED\u003eA: put the lid on the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the lid on the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the lid on the jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the lid on the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you grab me a bowl of pistachios from the MK?. last 20 steps: 1- put the paper bowl upright on the table 2- open the lid 3- put lid on the table 4- pick up the scoop 5- put pistas in the paper bowl 6- put pistas in the paper bowl 7- put pistas in the paper bowl 8- put scoop in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- put the lid on the jar 2- done\n\u003c/PRED\u003e","video":"7034564018620668193.mp4"}
+{"uid":"13197601643671967508","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nArrange the yellow packet on the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13434606511760275447.mp4"}
+{"uid":"15547390044869103990","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nopen the fridge Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12676004234320969958.mp4"}
+{"uid":"12493119534476231671","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the packet in the big white bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15666455386267247691.mp4"}
+{"uid":"17817171496651583813","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please grab all the pears in the top drawer and put them into the bowl on the table. Close drawer when you are done. last 20 steps: 1- open the drawer 2- place the pear in the bowl 3- place the pear in the bowl 4- place the pear in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place the pear in the bowl 2- place the pear in the bowl 3- close the drawer 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the pear in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the pear in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the pear in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please grab all the pears in the top drawer and put them into the bowl on the table. Close drawer when you are done. last 20 steps: 1- open the drawer 2- place the pear in the bowl 3- place the pear in the bowl 4- place the pear in the bowl Q: immediate next step? \u003cPRED\u003eA: place the pear in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please grab all the pears in the top drawer and put them into the bowl on the table. Close drawer when you are done Q: immediate next step? \u003cPRED\u003eA: place the pear in the bowl\n\u003c/PRED\u003e","video":"2463196501150644608.mp4"}
+{"uid":"13523821967853353940","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove the alphabet tile forward Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"76476199277318024.mp4"}
+{"uid":"9562116533930289308","text":"\u003ctask:success:discrete:True\u003e\nput the paper bowl upright on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the paper bowl upright on the table\n\u003c/PRED\u003e","video":"2712796697793814619.mp4"}
+{"uid":"9797928254700914571","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put pistas in the paper bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput pistas in the paper bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7256672271072491980.mp4"}
+{"uid":"3074550947251665732","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the red packet in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10252436680184794379.mp4"}
+{"uid":"10500571554797350493","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up the piece of the cloth Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"297000469801429622.mp4"}
+{"uid":"4634624663183486349","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pistachio in the paper cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10880851019834733734.mp4"}
+{"uid":"14942131519860021637","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please grab all the pears in the top drawer and put them into the bowl on the table. Close drawer when you are done. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nopen the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nopen the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please grab all the pears in the top drawer and put them into the bowl on the table. Close drawer when you are done. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- open the drawer 2- place the pear in the bowl 3- place the pear in the bowl 4- place the pear in the bowl 5- place the pear in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please grab all the pears in the top drawer and put them into the bowl on the table. Close drawer when you are done Q: immediate next step? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e","video":"2135096558823038748.mp4"}
+{"uid":"9474246580005390155","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the glass on the counter top\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you pour out the water from the cup into the sink and then throw away the cup?. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put the glass on the counter top 2- through the lid in the bin 3- throw the water in the sink 4- throw the glass in the bin 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the glass on the counter top Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you pour out the water from the cup into the sink and then throw away the cup?. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put the glass on the counter top\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the glass on the counter top\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you pour out the water from the cup into the sink and then throw away the cup? Q: immediate next step? \u003cPRED\u003eA: put the glass on the counter top\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the glass on the counter top Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14547792899860921257.mp4"}
+{"uid":"7957691784774880500","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put pistas in the paper bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you grab me a bowl of pistachios from the MK?. last 20 steps: 1- put the paper bowl upright on the table 2- open the lid 3- put lid on the table 4- pick up the scoop 5- put pistas in the paper bowl 6- put pistas in the paper bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put pistas in the paper bowl 2- put scoop in the holder 3- put the lid on the jar 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you grab me a bowl of pistachios from the MK?. last 20 steps: 1- put the paper bowl upright on the table 2- open the lid 3- put lid on the table 4- pick up the scoop 5- put pistas in the paper bowl 6- put pistas in the paper bowl Q: immediate next step? \u003cPRED\u003eA: put pistas in the paper bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you grab me a bowl of pistachios from the MK? Q: immediate next step? \u003cPRED\u003eA: put pistas in the paper bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput pistas in the paper bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put pistas in the paper bowl\n\u003c/PRED\u003e","video":"2165296513984162223.mp4"}
+{"uid":"18234646624209539018","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the chocolate in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10864930809434848755.mp4"}
+{"uid":"8877637505210156592","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the packets in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1914885697012844137.mp4"}
+{"uid":"4417750905460911259","text":"\u003ctask:success:discrete:False\u003e\nput can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put can on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- place the blue black can on the table Q: immediate next step? \u003cPRED\u003eA: put can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- place the blue black can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put can on the table 2- put can on the table 3- put can on the table 4- put can on the table 5- put can on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put can on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: put can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2253105052194307741.mp4"}
+{"uid":"10254770619312442350","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- place the blue black can on the table 2- put can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Place the cold brew can on the table 2- put can on the table 3- put can on the table 4- put can on the table 5- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the cold brew can on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the cold brew can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the cold brew can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- place the blue black can on the table 2- put can on the table Q: immediate next step? \u003cPRED\u003eA: Place the cold brew can on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the cold brew can on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: Place the cold brew can on the table\n\u003c/PRED\u003e","video":"16333975504439163271.mp4"}
+{"uid":"4548017140434587758","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pen in the pen stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15180881728164320620.mp4"}
+{"uid":"5431260032994481790","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput book in the shelf Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2755611309338780933.mp4"}
+{"uid":"960205398006723100","text":"\u003ctask:success:discrete:True\u003e\nput can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put can on the table\n\u003c/PRED\u003e","video":"10064964893606167186.mp4"}
+{"uid":"2585297476195929092","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the apple in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9875987982055878079.mp4"}
+{"uid":"15166139008333608226","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the pista in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6992284155885711953.mp4"}
+{"uid":"12082508768961878588","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put apple in a bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the fruits in the bowl. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Put apple in a bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put apple in a bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the fruits in the bowl. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Put apple in a bowl 2- drop orange into bowl 3- drop orange into bowl 4- place the orange in  bowl 5- place the orange in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut apple in a bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the fruits in the bowl Q: immediate next step? \u003cPRED\u003eA: Put apple in a bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut apple in a bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12853764434652656153.mp4"}
+{"uid":"8318578548618641568","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- place the blue black can on the table Q: immediate next step? \u003cPRED\u003eA: place the blue black can on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the blue black can on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: place the blue black can on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the blue black can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the blue black can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- place the blue black can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the blue black can on the table 2- put can on the table 3- put can on the table 4- put can on the table 5- put can on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the blue black can on the table\n\u003c/PRED\u003e","video":"3345258883911937425.mp4"}
+{"uid":"15315176304663439744","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: Place the cold brew can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- place the blue black can on the table 2- put can on the table 3- put can on the table 4- put can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Place the cold brew can on the table 2- put can on the table 3- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the cold brew can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- place the blue black can on the table 2- put can on the table 3- put can on the table 4- put can on the table Q: immediate next step? \u003cPRED\u003eA: Place the cold brew can on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the cold brew can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the cold brew can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the cold brew can on the table\n\u003c/PRED\u003e","video":"3348094841467726619.mp4"}
+{"uid":"9819301033729642429","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- place the blue black can on the table 2- put can on the table 3- put can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Place the cold brew can on the table 2- put can on the table 3- put can on the table 4- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: Place the cold brew can on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- place the blue black can on the table 2- put can on the table 3- put can on the table Q: immediate next step? \u003cPRED\u003eA: Place the cold brew can on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the cold brew can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the cold brew can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the cold brew can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the cold brew can on the table\n\u003c/PRED\u003e","video":"3406747479390325123.mp4"}
+{"uid":"2680001233055414001","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput pistachio in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11181831271786074678.mp4"}
+{"uid":"12344225693796005672","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put orange in a bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the fruits in the bowl Q: immediate next step? \u003cPRED\u003eA: Put orange in a bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the fruits in the bowl. last 20 steps: 1- drop apple into bowl Q: immediate next step? \u003cPRED\u003eA: Put orange in a bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut orange in a bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut orange in a bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the fruits in the bowl. last 20 steps: 1- drop apple into bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put orange in a bowl 2- drop orange into bowl 3- place the orange in  bowl 4- place the orange in the bowl 5- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put orange in a bowl\n\u003c/PRED\u003e","video":"10317075966101305439.mp4"}
+{"uid":"16784018292814406441","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick the cup up Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1500126972879960977.mp4"}
+{"uid":"12002815243286922445","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the banana on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15304951108639441225.mp4"}
+{"uid":"16636076600607201258","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the fruits in the bowl. last 20 steps: 1- drop apple into bowl 2- drop orange into bowl 3- drop orange into bowl 4- place the orange in  bowl 5- place the orange in the bowl Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the orange in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the orange in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the fruits in the bowl. last 20 steps: 1- drop apple into bowl 2- drop orange into bowl 3- drop orange into bowl 4- place the orange in  bowl 5- place the orange in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the fruits in the bowl Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"5320375962551819189.mp4"}
+{"uid":"11213160408831148748","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop pickle snack into basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2329144227907476008.mp4"}
+{"uid":"726220346191999207","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put the fruits in the bowl Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Drop banana into bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the fruits in the bowl. last 20 steps: 1- drop apple into bowl 2- drop orange into bowl 3- drop orange into bowl 4- place the orange in  bowl 5- Drop banana into bowl Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the fruits in the bowl. last 20 steps: 1- drop apple into bowl 2- drop orange into bowl 3- drop orange into bowl 4- place the orange in  bowl 5- Drop banana into bowl Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nDrop banana into bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4055060831064340628.mp4"}
+{"uid":"5267651852095549318","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop apple into bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop apple into bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2688382263690014093.mp4"}
+{"uid":"17446338024203651096","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the nacho packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15046916711035842911.mp4"}
+{"uid":"16582977887088984879","text":"\u003ctask:success:discrete:False\u003e\ndrop apple into bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the fruits in the bowl. last 20 steps: 1- drop apple into bowl 2- drop orange into bowl 3- drop orange into bowl Q: immediate next step? \u003cPRED\u003eA: drop apple into bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop apple into bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the fruits in the bowl Q: immediate next step? \u003cPRED\u003eA: drop apple into bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop apple into bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop apple into bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the fruits in the bowl. last 20 steps: 1- drop apple into bowl 2- drop orange into bowl 3- drop orange into bowl Q: next 5 steps? \u003cPRED\u003eA: 1- drop apple into bowl 2- place the orange in the bowl 3- done\n\u003c/PRED\u003e","video":"11273815676281712691.mp4"}
+{"uid":"12029748966600290981","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the marker in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10672411573613888357.mp4"}
+{"uid":"5831883084268381142","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the fruits in the bowl. last 20 steps: 1- drop apple into bowl 2- drop orange into bowl Q: immediate next step? \u003cPRED\u003eA: place the orange in bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the fruits in the bowl Q: immediate next step? \u003cPRED\u003eA: place the orange in bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the fruits in the bowl. last 20 steps: 1- drop apple into bowl 2- drop orange into bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place the orange in bowl 2- place the orange in  bowl 3- place the orange in the bowl 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the orange in bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the orange in bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the orange in bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6318747813664733076.mp4"}
+{"uid":"12071453005236116838","text":"\u003ctask:success:discrete:False\u003e\nplace the orange in bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the orange in bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the fruits in the bowl. last 20 steps: 1- drop apple into bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place the orange in bowl 2- place the orange in  bowl 3- place the orange in the bowl 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the fruits in the bowl. last 20 steps: 1- drop apple into bowl Q: immediate next step? \u003cPRED\u003eA: place the orange in bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the fruits in the bowl Q: immediate next step? \u003cPRED\u003eA: place the orange in bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the orange in bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the orange in bowl\n\u003c/PRED\u003e","video":"9572254492464999111.mp4"}
+{"uid":"9502050461922843784","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- place the blue black can on the table 2- put can on the table 3- put can on the table 4- put can on the table 5- put can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the blue black can on the table 2- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the blue black can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: place the blue black can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the blue black can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the blue black can on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the blue black can on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- place the blue black can on the table 2- put can on the table 3- put can on the table 4- put can on the table 5- put can on the table Q: immediate next step? \u003cPRED\u003eA: place the blue black can on the table\n\u003c/PRED\u003e","video":"15964455603590560334.mp4"}
+{"uid":"6589014953473876352","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the blue black can on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the blue black can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2591134804074067376.mp4"}
+{"uid":"4067558306308987414","text":"\u003ctask:success:discrete:False\u003e\nPut banana in a bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put banana in a bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the fruits in the bowl Q: immediate next step? \u003cPRED\u003eA: Put banana in a bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the fruits in the bowl. last 20 steps: 1- drop apple into bowl 2- drop orange into bowl 3- drop orange into bowl 4- place the orange in  bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put banana in a bowl 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the fruits in the bowl. last 20 steps: 1- drop apple into bowl 2- drop orange into bowl 3- drop orange into bowl 4- place the orange in  bowl Q: immediate next step? \u003cPRED\u003eA: Put banana in a bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put banana in a bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut banana in a bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10552717591407455677.mp4"}
+{"uid":"15659239262221418303","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput candy in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10628752581025695433.mp4"}
+{"uid":"6560212898327931687","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput orange packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5378544420536883837.mp4"}
+{"uid":"7948022179206179038","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2307045098810712085.mp4"}
+{"uid":"8004375506505343071","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put the fruits in the bowl Q: immediate next step? \u003cPRED\u003eA: drop orange into bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop orange into bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the fruits in the bowl. last 20 steps: 1- drop apple into bowl Q: next 5 steps? \u003cPRED\u003eA: 1- drop orange into bowl 2- drop orange into bowl 3- place the orange in  bowl 4- place the orange in the bowl 5- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop orange into bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop orange into bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop orange into bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the fruits in the bowl. last 20 steps: 1- drop apple into bowl Q: immediate next step? \u003cPRED\u003eA: drop orange into bowl\n\u003c/PRED\u003e","video":"11788880323791903707.mp4"}
+{"uid":"7662763636831750977","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: place the blue black can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the blue black can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- place the blue black can on the table 2- put can on the table 3- put can on the table 4- put can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the blue black can on the table 2- put can on the table 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the blue black can on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- place the blue black can on the table 2- put can on the table 3- put can on the table 4- put can on the table Q: immediate next step? \u003cPRED\u003eA: place the blue black can on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the blue black can on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the blue black can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7770202111581750588.mp4"}
+{"uid":"13228688808767197397","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the sticky notes into the container box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4494589632584148248.mp4"}
+{"uid":"16150853237071401050","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop orange into bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the fruits in the bowl Q: immediate next step? \u003cPRED\u003eA: drop orange into bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop orange into bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the fruits in the bowl. last 20 steps: 1- drop apple into bowl 2- drop orange into bowl Q: next 5 steps? \u003cPRED\u003eA: 1- drop orange into bowl 2- place the orange in  bowl 3- place the orange in the bowl 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the fruits in the bowl. last 20 steps: 1- drop apple into bowl 2- drop orange into bowl Q: immediate next step? \u003cPRED\u003eA: drop orange into bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop orange into bowl\n\u003c/PRED\u003e","video":"5040695136695513173.mp4"}
+{"uid":"5439302438409902172","text":"\u003ctask:success:discrete:False\u003e\nPlace the cold brew can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- place the blue black can on the table Q: immediate next step? \u003cPRED\u003eA: Place the cold brew can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- place the blue black can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Place the cold brew can on the table 2- put can on the table 3- put can on the table 4- put can on the table 5- put can on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: Place the cold brew can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the cold brew can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the cold brew can on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the cold brew can on the table\n\u003c/PRED\u003e","video":"17149026334077377695.mp4"}
+{"uid":"9619372782382961118","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the orange in bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the orange in bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7189287408558799984.mp4"}
+{"uid":"14914549416370271553","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut apple in a bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the fruits in the bowl. last 20 steps: 1- drop apple into bowl 2- drop orange into bowl 3- drop orange into bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put apple in a bowl 2- place the orange in the bowl 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the fruits in the bowl Q: immediate next step? \u003cPRED\u003eA: Put apple in a bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put apple in a bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the fruits in the bowl. last 20 steps: 1- drop apple into bowl 2- drop orange into bowl 3- drop orange into bowl Q: immediate next step? \u003cPRED\u003eA: Put apple in a bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put apple in a bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut apple in a bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8321175497417946713.mp4"}
+{"uid":"10233232305410601027","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- place the blue black can on the table 2- put can on the table 3- put can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the blue black can on the table 2- put can on the table 3- put can on the table 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the blue black can on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: place the blue black can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the blue black can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the blue black can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the blue black can on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- place the blue black can on the table 2- put can on the table 3- put can on the table Q: immediate next step? \u003cPRED\u003eA: place the blue black can on the table\n\u003c/PRED\u003e","video":"6208905285551457066.mp4"}
+{"uid":"16473174336330518566","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the orange in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the orange in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the fruits in the bowl Q: immediate next step? \u003cPRED\u003eA: place the orange in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the orange in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the fruits in the bowl. last 20 steps: 1- drop apple into bowl 2- drop orange into bowl 3- drop orange into bowl 4- place the orange in  bowl Q: immediate next step? \u003cPRED\u003eA: place the orange in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the orange in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the fruits in the bowl. last 20 steps: 1- drop apple into bowl 2- drop orange into bowl 3- drop orange into bowl 4- place the orange in  bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place the orange in the bowl 2- done\n\u003c/PRED\u003e","video":"16461763364681102753.mp4"}
+{"uid":"16231457627397830113","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the white glass on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7020146043413966112.mp4"}
+{"uid":"1361880456497370973","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- place the blue black can on the table 2- put can on the table 3- put can on the table 4- put can on the table Q: immediate next step? \u003cPRED\u003eA: put can on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- place the blue black can on the table 2- put can on the table 3- put can on the table 4- put can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put can on the table 2- put can on the table 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: put can on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9879549148348197201.mp4"}
+{"uid":"7694235604242188690","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop apple into bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop apple into bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3994188318247194954.mp4"}
+{"uid":"12211646506187744607","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the instant oatmeal pack in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11820343464688014815.mp4"}
+{"uid":"627299834650330291","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the orange in bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the orange in bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4578845683414755443.mp4"}
+{"uid":"1713954756973862112","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the apple in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the fruits in the bowl. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place the apple in the bowl 2- drop orange into bowl 3- place the orange in  bowl 4- place the orange in the bowl 5- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the apple in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the apple in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the fruits in the bowl. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place the apple in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the apple in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the fruits in the bowl Q: immediate next step? \u003cPRED\u003eA: place the apple in the bowl\n\u003c/PRED\u003e","video":"3598272516926862643.mp4"}
+{"uid":"11174333433122556934","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- place the blue black can on the table 2- put can on the table 3- put can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put can on the table 2- put can on the table 3- put can on the table 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: put can on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- place the blue black can on the table 2- put can on the table 3- put can on the table Q: immediate next step? \u003cPRED\u003eA: put can on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put can on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put can on the table\n\u003c/PRED\u003e","video":"6212073670144141732.mp4"}
+{"uid":"16819579522157861222","text":"\u003ctask:success:discrete:True\u003e\nPlace the cold brew can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the cold brew can on the table\n\u003c/PRED\u003e","video":"6241805357003438038.mp4"}
+{"uid":"9749520899404008830","text":"\u003ctask:success:discrete:True\u003e\ndrop orange into bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop orange into bowl\n\u003c/PRED\u003e","video":"16901149136443036139.mp4"}
+{"uid":"6302651593130329869","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput numi box in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15428954112346368595.mp4"}
+{"uid":"8497009251757273407","text":"\u003ctask:success:discrete:True\u003e\ndrop orange into bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop orange into bowl\n\u003c/PRED\u003e","video":"13864105186361443200.mp4"}
+{"uid":"13780493914218064431","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput pistachios into the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2678292601899424548.mp4"}
+{"uid":"2911806694275097538","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the fruits in the bowl. last 20 steps: 1- drop apple into bowl 2- drop orange into bowl 3- drop orange into bowl 4- place the orange in  bowl Q: immediate next step? \u003cPRED\u003eA: Drop banana into bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop banana into bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop banana into bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the fruits in the bowl. last 20 steps: 1- drop apple into bowl 2- drop orange into bowl 3- drop orange into bowl 4- place the orange in  bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Drop banana into bowl 2- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrop banana into bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop banana into bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the fruits in the bowl Q: immediate next step? \u003cPRED\u003eA: Drop banana into bowl\n\u003c/PRED\u003e","video":"13675481433919652656.mp4"}
+{"uid":"2328547118991577477","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up the stapler from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3900088982735756845.mp4"}
+{"uid":"16355258257165367133","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace a pamplate in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9774268210581949166.mp4"}
+{"uid":"10511218183632617307","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the pen in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4204070864790119632.mp4"}
+{"uid":"14874434767649475200","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput knife in holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9764762291862554684.mp4"}
+{"uid":"864150821853877182","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the blue black can on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the blue black can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the blue black can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: place the blue black can on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place the blue black can on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the blue black can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place the blue black can on the table 2- put can on the table 3- put can on the table 4- put can on the table 5- put can on the table\n\u003c/PRED\u003e","video":"6512089119512534883.mp4"}
+{"uid":"820004643031523187","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10894961793134211892.mp4"}
+{"uid":"18228331426075538074","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut pistachio nut in the paper glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17056487786282986544.mp4"}
+{"uid":"11920027276649950013","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: put can on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- place the blue black can on the table 2- put can on the table 3- put can on the table 4- put can on the table 5- put can on the table Q: immediate next step? \u003cPRED\u003eA: put can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- place the blue black can on the table 2- put can on the table 3- put can on the table 4- put can on the table 5- put can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put can on the table 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put can on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1714078605460334710.mp4"}
+{"uid":"10421286673665542764","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the blue black can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the blue black can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- place the blue black can on the table 2- put can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the blue black can on the table 2- put can on the table 3- put can on the table 4- put can on the table 5- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the blue black can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the blue black can on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: place the blue black can on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- place the blue black can on the table 2- put can on the table Q: immediate next step? \u003cPRED\u003eA: place the blue black can on the table\n\u003c/PRED\u003e","video":"1418396626582494652.mp4"}
+{"uid":"1822565753346807751","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- place the blue black can on the table 2- put can on the table Q: immediate next step? \u003cPRED\u003eA: put can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- place the blue black can on the table 2- put can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put can on the table 2- put can on the table 3- put can on the table 4- put can on the table 5- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put can on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: put can on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put can on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8493668405055129712.mp4"}
+{"uid":"8484332731900280135","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput yellow packet in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9937051515451448566.mp4"}
+{"uid":"14469074641499911199","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the cold brew can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the cold brew can on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- place the blue black can on the table 2- put can on the table 3- put can on the table 4- put can on the table 5- put can on the table Q: immediate next step? \u003cPRED\u003eA: Place the cold brew can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- place the blue black can on the table 2- put can on the table 3- put can on the table 4- put can on the table 5- put can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Place the cold brew can on the table 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the cold brew can on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: Place the cold brew can on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the cold brew can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11163505061071046838.mp4"}
+{"uid":"8427683591460699185","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nclose the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7649540112024493536.mp4"}
+{"uid":"570075908444306177","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the chocolate on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8140574732417075894.mp4"}
+{"uid":"8816309170928575722","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the fruits in the bowl. last 20 steps: 1- drop apple into bowl 2- drop orange into bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put orange in a bowl 2- place the orange in  bowl 3- place the orange in the bowl 4- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put orange in a bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the fruits in the bowl. last 20 steps: 1- drop apple into bowl 2- drop orange into bowl Q: immediate next step? \u003cPRED\u003eA: Put orange in a bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut orange in a bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put orange in a bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the fruits in the bowl Q: immediate next step? \u003cPRED\u003eA: Put orange in a bowl\n\u003c/PRED\u003e","video":"17685165052149951023.mp4"}
+{"uid":"12568540726046394204","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput instant oatmeal pack in stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1641773754671786187.mp4"}
+{"uid":"2483450266667802556","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the orange in  bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the orange in  bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10000247485167558837.mp4"}
+{"uid":"11564572720676729909","text":"\u003ctask:success:discrete:True\u003e\nplace the apple in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the apple in the bowl\n\u003c/PRED\u003e","video":"17364880599212766843.mp4"}
+{"uid":"10195703401320176840","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the orange in  bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the orange in  bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the fruits in the bowl. last 20 steps: 1- drop apple into bowl 2- drop orange into bowl 3- drop orange into bowl Q: immediate next step? \u003cPRED\u003eA: place the orange in  bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the orange in  bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the fruits in the bowl Q: immediate next step? \u003cPRED\u003eA: place the orange in  bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the fruits in the bowl. last 20 steps: 1- drop apple into bowl 2- drop orange into bowl 3- drop orange into bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place the orange in  bowl 2- place the orange in the bowl 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the orange in  bowl\n\u003c/PRED\u003e","video":"17300937324915122157.mp4"}
+{"uid":"11428985919129411939","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up the yellow packet Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4223002427646946271.mp4"}
+{"uid":"13779580412562325789","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack the plate to the left side Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11099077117933861648.mp4"}
+{"uid":"5207419703727197297","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the green packet into the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the green packet into the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please flips the bowls then seperate the green, yellow and pink candy. Then place the tongs and the forks in the bins. last 20 steps: 1- keep the cup upright 2- keep the cup upright 3- put the green packet into the bowl 4- put the green packet into the bowl 5- put the green packet into the bowl 6- put the green packet into the bowl Q: immediate next step? \u003cPRED\u003eA: put the green packet into the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the green packet into the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please flips the bowls then seperate the green, yellow and pink candy. Then place the tongs and the forks in the bins. last 20 steps: 1- keep the cup upright 2- keep the cup upright 3- put the green packet into the bowl 4- put the green packet into the bowl 5- put the green packet into the bowl 6- put the green packet into the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the green packet into the bowl 2- put the pink packet into the bowl 3- put the pink packet into the bowl 4- put the pink packet into the bowl 5- put the pink packet into the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please flips the bowls then seperate the green, yellow and pink candy. Then place the tongs and the forks in the bins. Q: immediate next step? \u003cPRED\u003eA: put the green packet into the bowl\n\u003c/PRED\u003e","video":"12519636203440504263.mp4"}
+{"uid":"10316486015360487594","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: keep the cup upright\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nkeep the cup upright Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7778607733818292883.mp4"}
+{"uid":"10472656415001118717","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the coffee packets in the box. last 20 steps: 1- put sugar packet in the box 2- put sugar packet in the box Q: next 5 steps? \u003cPRED\u003eA: 1- put sugar packet in the box 2- put sugar packet in the box 3- put sugar packet in the box 4- put sugar packet in the box 5- put sugar packet in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput sugar packet in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the coffee packets in the box. last 20 steps: 1- put sugar packet in the box 2- put sugar packet in the box Q: immediate next step? \u003cPRED\u003eA: put sugar packet in the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the coffee packets in the box Q: immediate next step? \u003cPRED\u003eA: put sugar packet in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput sugar packet in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put sugar packet in the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put sugar packet in the box\n\u003c/PRED\u003e","video":"15815715385101543924.mp4"}
+{"uid":"2797592718053989956","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput packet on the packets Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"541956462383722989.mp4"}
+{"uid":"4349737538610111296","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the white cube to carton Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10901245032154029956.mp4"}
+{"uid":"8422602674008225016","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the pistachio into the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6474829837153724646.mp4"}
+{"uid":"11352643132620667880","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the yellow packets into the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the yellow packets into the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please flips the bowls then seperate the green, yellow and pink candy. Then place the tongs and the forks in the bins. Q: immediate next step? \u003cPRED\u003eA: put the yellow packets into the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please flips the bowls then seperate the green, yellow and pink candy. Then place the tongs and the forks in the bins. last 20 steps: 1- keep the cup upright 2- keep the cup upright 3- put the green packet into the bowl 4- put the green packet into the bowl 5- put the green packet into the bowl 6- put the green packet into the bowl 7- put the green packet into the bowl 8- put the pink packet into the bowl 9- put the pink packet into the bowl 10- put the pink packet into the bowl 11- put the pink packet into the bowl 12- put the pink packet into the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the yellow packets into the bowl 2- put the yellow packet into the bowl 3- put the yellow packet into the bowl 4- put the yellow packet into the bowl 5- put the yellow packet into the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please flips the bowls then seperate the green, yellow and pink candy. Then place the tongs and the forks in the bins. last 20 steps: 1- keep the cup upright 2- keep the cup upright 3- put the green packet into the bowl 4- put the green packet into the bowl 5- put the green packet into the bowl 6- put the green packet into the bowl 7- put the green packet into the bowl 8- put the pink packet into the bowl 9- put the pink packet into the bowl 10- put the pink packet into the bowl 11- put the pink packet into the bowl 12- put the pink packet into the bowl Q: immediate next step? \u003cPRED\u003eA: put the yellow packets into the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the yellow packets into the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the yellow packets into the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14539283737493106332.mp4"}
+{"uid":"13241699625393649461","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove to the hanger Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13994805825887537278.mp4"}
+{"uid":"16745866187379968475","text":"\u003ctask:success:discrete:True\u003e\nput packet in box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the coffee packets in the box. last 20 steps: 1- put sugar packet in the box 2- put sugar packet in the box 3- put sugar packet in the box 4- put sugar packet in the box 5- put sugar packet in the box 6- put sugar packet in the box 7- put sugar packet in the box 8- put packet in box Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the coffee packets in the box. last 20 steps: 1- put sugar packet in the box 2- put sugar packet in the box 3- put sugar packet in the box 4- put sugar packet in the box 5- put sugar packet in the box 6- put sugar packet in the box 7- put sugar packet in the box 8- put packet in box Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put packet in box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the coffee packets in the box Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"8645939435358382137.mp4"}
+{"uid":"9586816268870505508","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the packet in the carton Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the packet in the carton\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the packet in the carton Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the coffee packets in the box. last 20 steps: 1- put sugar packet in the box 2- put sugar packet in the box 3- put sugar packet in the box Q: next 5 steps? \u003cPRED\u003eA: 1- put the packet in the carton 2- put sugar packet in the box 3- put sugar packet in the box 4- put sugar packet in the box 5- put sugar packet in the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the coffee packets in the box. last 20 steps: 1- put sugar packet in the box 2- put sugar packet in the box 3- put sugar packet in the box Q: immediate next step? \u003cPRED\u003eA: put the packet in the carton\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the coffee packets in the box Q: immediate next step? \u003cPRED\u003eA: put the packet in the carton\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the packet in the carton\n\u003c/PRED\u003e","video":"4168278600252540736.mp4"}
+{"uid":"2290357344083835234","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put sugar packet in the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the coffee packets in the box Q: immediate next step? \u003cPRED\u003eA: put sugar packet in the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put sugar packet in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput sugar packet in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the coffee packets in the box. last 20 steps: 1- put sugar packet in the box 2- put sugar packet in the box 3- put sugar packet in the box Q: immediate next step? \u003cPRED\u003eA: put sugar packet in the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the coffee packets in the box. last 20 steps: 1- put sugar packet in the box 2- put sugar packet in the box 3- put sugar packet in the box Q: next 5 steps? \u003cPRED\u003eA: 1- put sugar packet in the box 2- put sugar packet in the box 3- put sugar packet in the box 4- put sugar packet in the box 5- put sugar packet in the box\n\u003c/PRED\u003e","video":"18103919557198725426.mp4"}
+{"uid":"10683061300555549289","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the coffee packets in the box. last 20 steps: 1- put sugar packet in the box 2- put sugar packet in the box 3- put sugar packet in the box Q: next 5 steps? \u003cPRED\u003eA: 1- put packet in box 2- put sugar packet in the box 3- put sugar packet in the box 4- put sugar packet in the box 5- put sugar packet in the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet in box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet in box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet in box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the coffee packets in the box Q: immediate next step? \u003cPRED\u003eA: put packet in box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the coffee packets in the box. last 20 steps: 1- put sugar packet in the box 2- put sugar packet in the box 3- put sugar packet in the box Q: immediate next step? \u003cPRED\u003eA: put packet in box\n\u003c/PRED\u003e","video":"11517301974955471138.mp4"}
+{"uid":"2966564084534733637","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the blue pen in the right side cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15979783490133838413.mp4"}
+{"uid":"16884701168116038436","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the smart 50 packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17662348239984655003.mp4"}
+{"uid":"6916841132718652178","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put sugar packet in the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put sugar packet in the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the coffee packets in the box Q: immediate next step? \u003cPRED\u003eA: put sugar packet in the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the coffee packets in the box. last 20 steps: 1- put sugar packet in the box 2- put sugar packet in the box 3- put sugar packet in the box 4- put sugar packet in the box 5- put sugar packet in the box 6- put sugar packet in the box Q: immediate next step? \u003cPRED\u003eA: put sugar packet in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput sugar packet in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the coffee packets in the box. last 20 steps: 1- put sugar packet in the box 2- put sugar packet in the box 3- put sugar packet in the box 4- put sugar packet in the box 5- put sugar packet in the box 6- put sugar packet in the box Q: next 5 steps? \u003cPRED\u003eA: 1- put sugar packet in the box 2- put sugar packet in the box 3- done\n\u003c/PRED\u003e","video":"14055491987972359250.mp4"}
+{"uid":"10903333444612170086","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nkeep packet from ground onto the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13995912225767098733.mp4"}
+{"uid":"13166844013290486155","text":"\u003ctask:success:discrete:True\u003e\nput packet in box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put packet in box\n\u003c/PRED\u003e","video":"7347698630071468443.mp4"}
+{"uid":"1643225250698801716","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet in box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the coffee packets in the box Q: immediate next step? \u003cPRED\u003eA: put packet in box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the coffee packets in the box. last 20 steps: 1- put sugar packet in the box 2- put sugar packet in the box 3- put sugar packet in the box 4- put sugar packet in the box 5- put sugar packet in the box 6- put sugar packet in the box Q: next 5 steps? \u003cPRED\u003eA: 1- put packet in box 2- put sugar packet in the box 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the coffee packets in the box. last 20 steps: 1- put sugar packet in the box 2- put sugar packet in the box 3- put sugar packet in the box 4- put sugar packet in the box 5- put sugar packet in the box 6- put sugar packet in the box Q: immediate next step? \u003cPRED\u003eA: put packet in box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet in box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet in box\n\u003c/PRED\u003e","video":"6595373866039191972.mp4"}
+{"uid":"11296719543914059198","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the pistachio in a cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11421691126319281535.mp4"}
+{"uid":"16657018569284515978","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the candy on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4811119248865288146.mp4"}
+{"uid":"9111414993561814893","text":"\u003ctask:success:discrete:True\u003e\nput the packet in the carton Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the packet in the carton\n\u003c/PRED\u003e","video":"4898983678422077021.mp4"}
+{"uid":"5426701540972176957","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet in box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the coffee packets in the box. last 20 steps: 1- put sugar packet in the box 2- put sugar packet in the box 3- put sugar packet in the box 4- put sugar packet in the box Q: immediate next step? \u003cPRED\u003eA: put packet in box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet in box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the coffee packets in the box Q: immediate next step? \u003cPRED\u003eA: put packet in box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the coffee packets in the box. last 20 steps: 1- put sugar packet in the box 2- put sugar packet in the box 3- put sugar packet in the box 4- put sugar packet in the box Q: next 5 steps? \u003cPRED\u003eA: 1- put packet in box 2- put sugar packet in the box 3- put sugar packet in the box 4- put sugar packet in the box 5- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet in box\n\u003c/PRED\u003e","video":"8381545065887789440.mp4"}
+{"uid":"14987243250969376066","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put the coffee packets in the box Q: immediate next step? \u003cPRED\u003eA: put the packet in the carton\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the packet in the carton\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the packet in the carton Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the packet in the carton\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the coffee packets in the box. last 20 steps: 1- put sugar packet in the box 2- put sugar packet in the box 3- put sugar packet in the box 4- put sugar packet in the box 5- put sugar packet in the box 6- put sugar packet in the box Q: immediate next step? \u003cPRED\u003eA: put the packet in the carton\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the coffee packets in the box. last 20 steps: 1- put sugar packet in the box 2- put sugar packet in the box 3- put sugar packet in the box 4- put sugar packet in the box 5- put sugar packet in the box 6- put sugar packet in the box Q: next 5 steps? \u003cPRED\u003eA: 1- put the packet in the carton 2- put sugar packet in the box 3- done\n\u003c/PRED\u003e","video":"15410679425907480546.mp4"}
+{"uid":"1809243998914348198","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick the pen Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10465028466536094336.mp4"}
+{"uid":"13252665394646071920","text":"\u003ctask:success:discrete:False\u003e\nput the pink packet into the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please flips the bowls then seperate the green, yellow and pink candy. Then place the tongs and the forks in the bins. last 20 steps: 1- keep the cup upright 2- keep the cup upright 3- put the green packet into the bowl 4- put the green packet into the bowl 5- put the green packet into the bowl 6- put the green packet into the bowl 7- put the green packet into the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the pink packet into the bowl 2- put the pink packet into the bowl 3- put the pink packet into the bowl 4- put the pink packet into the bowl 5- put the pink packet into the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pink packet into the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please flips the bowls then seperate the green, yellow and pink candy. Then place the tongs and the forks in the bins. Q: immediate next step? \u003cPRED\u003eA: put the pink packet into the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the pink packet into the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please flips the bowls then seperate the green, yellow and pink candy. Then place the tongs and the forks in the bins. last 20 steps: 1- keep the cup upright 2- keep the cup upright 3- put the green packet into the bowl 4- put the green packet into the bowl 5- put the green packet into the bowl 6- put the green packet into the bowl 7- put the green packet into the bowl Q: immediate next step? \u003cPRED\u003eA: put the pink packet into the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the pink packet into the bowl\n\u003c/PRED\u003e","video":"3258929344944161928.mp4"}
+{"uid":"6438401854894124618","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please flips the bowls then seperate the green, yellow and pink candy. Then place the tongs and the forks in the bins. last 20 steps: 1- keep the cup upright 2- keep the cup upright 3- put the green packet into the bowl 4- put the green packet into the bowl 5- put the green packet into the bowl 6- put the green packet into the bowl 7- put the green packet into the bowl 8- put the pink packet into the bowl 9- put the pink packet into the bowl 10- put the pink packet into the bowl 11- put the pink packet into the bowl 12- put the pink packet into the bowl 13- put the yellow packets into the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the yellow packet into the bowl 2- put the yellow packet into the bowl 3- put the yellow packet into the bowl 4- put the yellow packet into the bowl 5- put the yellow packet into the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please flips the bowls then seperate the green, yellow and pink candy. Then place the tongs and the forks in the bins. last 20 steps: 1- keep the cup upright 2- keep the cup upright 3- put the green packet into the bowl 4- put the green packet into the bowl 5- put the green packet into the bowl 6- put the green packet into the bowl 7- put the green packet into the bowl 8- put the pink packet into the bowl 9- put the pink packet into the bowl 10- put the pink packet into the bowl 11- put the pink packet into the bowl 12- put the pink packet into the bowl 13- put the yellow packets into the bowl Q: immediate next step? \u003cPRED\u003eA: put the yellow packet into the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the yellow packet into the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the yellow packet into the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please flips the bowls then seperate the green, yellow and pink candy. Then place the tongs and the forks in the bins. Q: immediate next step? \u003cPRED\u003eA: put the yellow packet into the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the yellow packet into the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the yellow packet into the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14419052425246068844.mp4"}
+{"uid":"11592532830601859057","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the green packet into the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please flips the bowls then seperate the green, yellow and pink candy. Then place the tongs and the forks in the bins. last 20 steps: 1- keep the cup upright 2- keep the cup upright 3- put the green packet into the bowl 4- put the green packet into the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the green packet into the bowl 2- put the green packet into the bowl 3- put the green packet into the bowl 4- put the pink packet into the bowl 5- put the pink packet into the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the green packet into the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please flips the bowls then seperate the green, yellow and pink candy. Then place the tongs and the forks in the bins. last 20 steps: 1- keep the cup upright 2- keep the cup upright 3- put the green packet into the bowl 4- put the green packet into the bowl Q: immediate next step? \u003cPRED\u003eA: put the green packet into the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the green packet into the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please flips the bowls then seperate the green, yellow and pink candy. Then place the tongs and the forks in the bins. Q: immediate next step? \u003cPRED\u003eA: put the green packet into the bowl\n\u003c/PRED\u003e","video":"4607897269218436950.mp4"}
+{"uid":"16049155115695715912","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput sugar packet in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put sugar packet in the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the coffee packets in the box Q: immediate next step? \u003cPRED\u003eA: put sugar packet in the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the coffee packets in the box. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put sugar packet in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput sugar packet in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put sugar packet in the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the coffee packets in the box. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put sugar packet in the box 2- put sugar packet in the box 3- put sugar packet in the box 4- put sugar packet in the box 5- put sugar packet in the box\n\u003c/PRED\u003e","video":"12857206676187463054.mp4"}
+{"uid":"11441988026037622354","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the coffee packets in the box. last 20 steps: 1- put sugar packet in the box 2- put sugar packet in the box 3- put sugar packet in the box 4- put sugar packet in the box Q: immediate next step? \u003cPRED\u003eA: put sugar packet in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput sugar packet in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put sugar packet in the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put sugar packet in the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the coffee packets in the box Q: immediate next step? \u003cPRED\u003eA: put sugar packet in the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the coffee packets in the box. last 20 steps: 1- put sugar packet in the box 2- put sugar packet in the box 3- put sugar packet in the box 4- put sugar packet in the box Q: next 5 steps? \u003cPRED\u003eA: 1- put sugar packet in the box 2- put sugar packet in the box 3- put sugar packet in the box 4- put sugar packet in the box 5- done\n\u003c/PRED\u003e","video":"16588647197594593931.mp4"}
+{"uid":"6586136742365770885","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the coffee packets in the box. last 20 steps: 1- put sugar packet in the box 2- put sugar packet in the box 3- put sugar packet in the box 4- put sugar packet in the box 5- put sugar packet in the box 6- put sugar packet in the box 7- put sugar packet in the box Q: next 5 steps? \u003cPRED\u003eA: 1- put sugar packet in the box 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the coffee packets in the box Q: immediate next step? \u003cPRED\u003eA: put sugar packet in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput sugar packet in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put sugar packet in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput sugar packet in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the coffee packets in the box. last 20 steps: 1- put sugar packet in the box 2- put sugar packet in the box 3- put sugar packet in the box 4- put sugar packet in the box 5- put sugar packet in the box 6- put sugar packet in the box 7- put sugar packet in the box Q: immediate next step? \u003cPRED\u003eA: put sugar packet in the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put sugar packet in the box\n\u003c/PRED\u003e","video":"6208209442970146350.mp4"}
+{"uid":"16266028658321865538","text":"\u003ctask:success:discrete:True\u003e\nput sugar packet in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put sugar packet in the box\n\u003c/PRED\u003e","video":"16217698949160698458.mp4"}
+{"uid":"3969642711901046815","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput sugar packet in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the coffee packets in the box Q: immediate next step? \u003cPRED\u003eA: put sugar packet in the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the coffee packets in the box. last 20 steps: 1- put sugar packet in the box Q: next 5 steps? \u003cPRED\u003eA: 1- put sugar packet in the box 2- put sugar packet in the box 3- put sugar packet in the box 4- put sugar packet in the box 5- put sugar packet in the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put sugar packet in the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put sugar packet in the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the coffee packets in the box. last 20 steps: 1- put sugar packet in the box Q: immediate next step? \u003cPRED\u003eA: put sugar packet in the box\n\u003c/PRED\u003e","video":"5607400004521627160.mp4"}
+{"uid":"1801888903715994451","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop nut in a cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16167151425370538243.mp4"}
+{"uid":"2925177734136923602","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: keep the cup upright\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nkeep the cup upright Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13966723234249651711.mp4"}
+{"uid":"545328398972123399","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the packet in the carton\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the packet in the carton Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17638001534337776715.mp4"}
+{"uid":"2637270660753205168","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nThrow the paper in the trash Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8209665248705351061.mp4"}
+{"uid":"17401694122977782894","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please flips the bowls then seperate the green, yellow and pink candy. Then place the tongs and the forks in the bins. last 20 steps: 1- keep the cup upright 2- keep the cup upright 3- put the green packet into the bowl 4- put the green packet into the bowl 5- put the green packet into the bowl 6- put the green packet into the bowl 7- put the green packet into the bowl 8- put the pink packet into the bowl 9- put the pink packet into the bowl 10- put the pink packet into the bowl 11- put the pink packet into the bowl 12- put the pink packet into the bowl 13- put the yellow packets into the bowl 14- put the yellow packet into the bowl 15- put the yellow packet into the bowl 16- put the yellow packet into the bowl 17- put the yellow packet into the bowl Q: immediate next step? \u003cPRED\u003eA: put the yellow packet into the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the yellow packet into the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the yellow packet into the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the yellow packet into the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please flips the bowls then seperate the green, yellow and pink candy. Then place the tongs and the forks in the bins. Q: immediate next step? \u003cPRED\u003eA: put the yellow packet into the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please flips the bowls then seperate the green, yellow and pink candy. Then place the tongs and the forks in the bins. last 20 steps: 1- keep the cup upright 2- keep the cup upright 3- put the green packet into the bowl 4- put the green packet into the bowl 5- put the green packet into the bowl 6- put the green packet into the bowl 7- put the green packet into the bowl 8- put the pink packet into the bowl 9- put the pink packet into the bowl 10- put the pink packet into the bowl 11- put the pink packet into the bowl 12- put the pink packet into the bowl 13- put the yellow packets into the bowl 14- put the yellow packet into the bowl 15- put the yellow packet into the bowl 16- put the yellow packet into the bowl 17- put the yellow packet into the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the yellow packet into the bowl 2- done\n\u003c/PRED\u003e","video":"18271995490633469057.mp4"}
+{"uid":"11965639401149569544","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please flips the bowls then seperate the green, yellow and pink candy. Then place the tongs and the forks in the bins. last 20 steps: 1- keep the cup upright 2- keep the cup upright 3- put the green packet into the bowl 4- put the green packet into the bowl 5- put the green packet into the bowl 6- put the green packet into the bowl 7- put the green packet into the bowl 8- put the pink packet into the bowl 9- put the pink packet into the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the pink packet into the bowl 2- put the pink packet into the bowl 3- put the pink packet into the bowl 4- put the yellow packets into the bowl 5- put the yellow packet into the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the pink packet into the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the pink packet into the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please flips the bowls then seperate the green, yellow and pink candy. Then place the tongs and the forks in the bins. Q: immediate next step? \u003cPRED\u003eA: put the pink packet into the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the pink packet into the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pink packet into the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please flips the bowls then seperate the green, yellow and pink candy. Then place the tongs and the forks in the bins. last 20 steps: 1- keep the cup upright 2- keep the cup upright 3- put the green packet into the bowl 4- put the green packet into the bowl 5- put the green packet into the bowl 6- put the green packet into the bowl 7- put the green packet into the bowl 8- put the pink packet into the bowl 9- put the pink packet into the bowl Q: immediate next step? \u003cPRED\u003eA: put the pink packet into the bowl\n\u003c/PRED\u003e","video":"14793718731050400636.mp4"}
+{"uid":"11867599599635687035","text":"\u003ctask:success:discrete:True\u003e\nput sugar packet in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put sugar packet in the box\n\u003c/PRED\u003e","video":"9367291537271439276.mp4"}
+{"uid":"10208930099380962919","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the packet in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6978356121378616866.mp4"}
+{"uid":"11645964825091308044","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the coffee packets in the box. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put packet in box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet in box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the coffee packets in the box Q: immediate next step? \u003cPRED\u003eA: put packet in box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the coffee packets in the box. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put packet in box 2- put sugar packet in the box 3- put sugar packet in the box 4- put sugar packet in the box 5- put sugar packet in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput packet in box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet in box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet in box\n\u003c/PRED\u003e","video":"15696812735618940300.mp4"}
+{"uid":"6683935123940317983","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the pen into the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9190973088333466977.mp4"}
+{"uid":"3568187259227004291","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the packet in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18164305591694920189.mp4"}
+{"uid":"3918942075935350495","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the coffee packets in the box. last 20 steps: 1- put sugar packet in the box Q: immediate next step? \u003cPRED\u003eA: put packet in box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the coffee packets in the box Q: immediate next step? \u003cPRED\u003eA: put packet in box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet in box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet in box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the coffee packets in the box. last 20 steps: 1- put sugar packet in the box Q: next 5 steps? \u003cPRED\u003eA: 1- put packet in box 2- put sugar packet in the box 3- put sugar packet in the box 4- put sugar packet in the box 5- put sugar packet in the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet in box\n\u003c/PRED\u003e","video":"9263232741365418780.mp4"}
+{"uid":"7335440041798645074","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput block in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7461822754052320412.mp4"}
+{"uid":"564220806699565098","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the yellow packet into the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please flips the bowls then seperate the green, yellow and pink candy. Then place the tongs and the forks in the bins. Q: immediate next step? \u003cPRED\u003eA: put the yellow packet into the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please flips the bowls then seperate the green, yellow and pink candy. Then place the tongs and the forks in the bins. last 20 steps: 1- keep the cup upright 2- keep the cup upright 3- put the green packet into the bowl 4- put the green packet into the bowl 5- put the green packet into the bowl 6- put the green packet into the bowl 7- put the green packet into the bowl 8- put the pink packet into the bowl 9- put the pink packet into the bowl 10- put the pink packet into the bowl 11- put the pink packet into the bowl 12- put the pink packet into the bowl 13- put the yellow packets into the bowl 14- put the yellow packet into the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the yellow packet into the bowl 2- put the yellow packet into the bowl 3- put the yellow packet into the bowl 4- put the yellow packet into the bowl 5- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the yellow packet into the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please flips the bowls then seperate the green, yellow and pink candy. Then place the tongs and the forks in the bins. last 20 steps: 1- keep the cup upright 2- keep the cup upright 3- put the green packet into the bowl 4- put the green packet into the bowl 5- put the green packet into the bowl 6- put the green packet into the bowl 7- put the green packet into the bowl 8- put the pink packet into the bowl 9- put the pink packet into the bowl 10- put the pink packet into the bowl 11- put the pink packet into the bowl 12- put the pink packet into the bowl 13- put the yellow packets into the bowl 14- put the yellow packet into the bowl Q: immediate next step? \u003cPRED\u003eA: put the yellow packet into the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the yellow packet into the bowl\n\u003c/PRED\u003e","video":"17495983946506084607.mp4"}
+{"uid":"13405442586056378123","text":"\u003ctask:success:discrete:True\u003e\nput packet in box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put packet in box\n\u003c/PRED\u003e","video":"2297208398279803189.mp4"}
+{"uid":"15907448256001764928","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the sachets in the glass cage Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13926573371266019548.mp4"}
+{"uid":"14573120034431766786","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put the coffee packets in the box Q: immediate next step? \u003cPRED\u003eA: put the packet in the carton\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the packet in the carton\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the packet in the carton Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the coffee packets in the box. last 20 steps: 1- put sugar packet in the box 2- put sugar packet in the box 3- put sugar packet in the box 4- put sugar packet in the box 5- put sugar packet in the box Q: immediate next step? \u003cPRED\u003eA: put the packet in the carton\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the packet in the carton Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the packet in the carton\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the coffee packets in the box. last 20 steps: 1- put sugar packet in the box 2- put sugar packet in the box 3- put sugar packet in the box 4- put sugar packet in the box 5- put sugar packet in the box Q: next 5 steps? \u003cPRED\u003eA: 1- put the packet in the carton 2- put sugar packet in the box 3- put sugar packet in the box 4- done\n\u003c/PRED\u003e","video":"10360813966118618174.mp4"}
+{"uid":"18240415963168414152","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput apple in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6773348052188278245.mp4"}
+{"uid":"5278187327035347960","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the apple in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15310767618975184429.mp4"}
+{"uid":"8790401530063938899","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet in box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the coffee packets in the box Q: immediate next step? \u003cPRED\u003eA: put packet in box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet in box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet in box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput packet in box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the coffee packets in the box. last 20 steps: 1- put sugar packet in the box 2- put sugar packet in the box Q: next 5 steps? \u003cPRED\u003eA: 1- put packet in box 2- put sugar packet in the box 3- put sugar packet in the box 4- put sugar packet in the box 5- put sugar packet in the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the coffee packets in the box. last 20 steps: 1- put sugar packet in the box 2- put sugar packet in the box Q: immediate next step? \u003cPRED\u003eA: put packet in box\n\u003c/PRED\u003e","video":"4517615754129315222.mp4"}
+{"uid":"15797812751516273807","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the purple candy in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14351668461757130306.mp4"}
+{"uid":"17721499411691077273","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put sugar packet in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput sugar packet in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3903250486384661320.mp4"}
+{"uid":"13723028851772051290","text":"\u003ctask:success:discrete:False\u003e\nput packet in box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the coffee packets in the box. last 20 steps: 1- put sugar packet in the box 2- put sugar packet in the box 3- put sugar packet in the box 4- put sugar packet in the box 5- put sugar packet in the box 6- put sugar packet in the box 7- put sugar packet in the box Q: immediate next step? \u003cPRED\u003eA: put packet in box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet in box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet in box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet in box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the coffee packets in the box. last 20 steps: 1- put sugar packet in the box 2- put sugar packet in the box 3- put sugar packet in the box 4- put sugar packet in the box 5- put sugar packet in the box 6- put sugar packet in the box 7- put sugar packet in the box Q: next 5 steps? \u003cPRED\u003eA: 1- put packet in box 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the coffee packets in the box Q: immediate next step? \u003cPRED\u003eA: put packet in box\n\u003c/PRED\u003e","video":"10379512526727844429.mp4"}
+{"uid":"14236718920937620078","text":"\u003ctask:success:discrete:True\u003e\nput the packet in the carton Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the packet in the carton\n\u003c/PRED\u003e","video":"14980469446772888897.mp4"}
+{"uid":"12612546076504026395","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the pink packet into the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please flips the bowls then seperate the green, yellow and pink candy. Then place the tongs and the forks in the bins. Q: immediate next step? \u003cPRED\u003eA: put the pink packet into the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the pink packet into the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please flips the bowls then seperate the green, yellow and pink candy. Then place the tongs and the forks in the bins. last 20 steps: 1- keep the cup upright 2- keep the cup upright 3- put the green packet into the bowl 4- put the green packet into the bowl 5- put the green packet into the bowl 6- put the green packet into the bowl 7- put the green packet into the bowl 8- put the pink packet into the bowl 9- put the pink packet into the bowl 10- put the pink packet into the bowl 11- put the pink packet into the bowl Q: immediate next step? \u003cPRED\u003eA: put the pink packet into the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pink packet into the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please flips the bowls then seperate the green, yellow and pink candy. Then place the tongs and the forks in the bins. last 20 steps: 1- keep the cup upright 2- keep the cup upright 3- put the green packet into the bowl 4- put the green packet into the bowl 5- put the green packet into the bowl 6- put the green packet into the bowl 7- put the green packet into the bowl 8- put the pink packet into the bowl 9- put the pink packet into the bowl 10- put the pink packet into the bowl 11- put the pink packet into the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the pink packet into the bowl 2- put the yellow packets into the bowl 3- put the yellow packet into the bowl 4- put the yellow packet into the bowl 5- put the yellow packet into the bowl\n\u003c/PRED\u003e","video":"13272180286058277603.mp4"}
+{"uid":"17919658248181500263","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the packet in the carton Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the packet in the carton\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the packet in the carton\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the coffee packets in the box. last 20 steps: 1- put sugar packet in the box 2- put sugar packet in the box 3- put sugar packet in the box 4- put sugar packet in the box Q: immediate next step? \u003cPRED\u003eA: put the packet in the carton\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the coffee packets in the box. last 20 steps: 1- put sugar packet in the box 2- put sugar packet in the box 3- put sugar packet in the box 4- put sugar packet in the box Q: next 5 steps? \u003cPRED\u003eA: 1- put the packet in the carton 2- put sugar packet in the box 3- put sugar packet in the box 4- put sugar packet in the box 5- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the coffee packets in the box Q: immediate next step? \u003cPRED\u003eA: put the packet in the carton\n\u003c/PRED\u003e","video":"4642189328078845011.mp4"}
+{"uid":"15680674393115138004","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the cross block in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12184087674911613571.mp4"}
+{"uid":"15039893108679675494","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove near the dustbin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8157243029425371575.mp4"}
+{"uid":"12147022451370190422","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nGrab the black box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7559459957057363668.mp4"}
+{"uid":"15528426360057627976","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the coffee packets in the box. last 20 steps: 1- put sugar packet in the box 2- put sugar packet in the box 3- put sugar packet in the box 4- put sugar packet in the box 5- put sugar packet in the box 6- put sugar packet in the box 7- put sugar packet in the box 8- put the packet in the carton Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the coffee packets in the box. last 20 steps: 1- put sugar packet in the box 2- put sugar packet in the box 3- put sugar packet in the box 4- put sugar packet in the box 5- put sugar packet in the box 6- put sugar packet in the box 7- put sugar packet in the box 8- put the packet in the carton Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the packet in the carton\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the packet in the carton Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the coffee packets in the box Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"17959635694836892350.mp4"}
+{"uid":"14233055254217564898","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the coffee packets in the box. last 20 steps: 1- put sugar packet in the box 2- put sugar packet in the box Q: immediate next step? \u003cPRED\u003eA: put the packets in the carton\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the packets in the carton Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the packets in the carton\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the coffee packets in the box Q: immediate next step? \u003cPRED\u003eA: put the packets in the carton\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the coffee packets in the box. last 20 steps: 1- put sugar packet in the box 2- put sugar packet in the box Q: next 5 steps? \u003cPRED\u003eA: 1- put the packets in the carton 2- put sugar packet in the box 3- put sugar packet in the box 4- put sugar packet in the box 5- put sugar packet in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the packets in the carton Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the packets in the carton\n\u003c/PRED\u003e","video":"16780816305965102965.mp4"}
+{"uid":"10029490995808277818","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up the hint bottle from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3630203672928419465.mp4"}
+{"uid":"13508206138412502227","text":"\u003ctask:success:discrete:True\u003e\nput sugar packet in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put sugar packet in the box\n\u003c/PRED\u003e","video":"329904215297803693.mp4"}
+{"uid":"7749354725274670024","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pink packet into the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please flips the bowls then seperate the green, yellow and pink candy. Then place the tongs and the forks in the bins. Q: immediate next step? \u003cPRED\u003eA: put the pink packet into the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please flips the bowls then seperate the green, yellow and pink candy. Then place the tongs and the forks in the bins. last 20 steps: 1- keep the cup upright 2- keep the cup upright 3- put the green packet into the bowl 4- put the green packet into the bowl 5- put the green packet into the bowl 6- put the green packet into the bowl 7- put the green packet into the bowl 8- put the pink packet into the bowl 9- put the pink packet into the bowl 10- put the pink packet into the bowl Q: immediate next step? \u003cPRED\u003eA: put the pink packet into the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the pink packet into the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the pink packet into the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please flips the bowls then seperate the green, yellow and pink candy. Then place the tongs and the forks in the bins. last 20 steps: 1- keep the cup upright 2- keep the cup upright 3- put the green packet into the bowl 4- put the green packet into the bowl 5- put the green packet into the bowl 6- put the green packet into the bowl 7- put the green packet into the bowl 8- put the pink packet into the bowl 9- put the pink packet into the bowl 10- put the pink packet into the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the pink packet into the bowl 2- put the pink packet into the bowl 3- put the yellow packets into the bowl 4- put the yellow packet into the bowl 5- put the yellow packet into the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the pink packet into the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"914681408669034977.mp4"}
+{"uid":"1143338688552931113","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the chocolate on the chocolate Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13293927782418383396.mp4"}
+{"uid":"13797684846840203218","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put the coffee packets in the box Q: immediate next step? \u003cPRED\u003eA: put packet in box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the coffee packets in the box. last 20 steps: 1- put sugar packet in the box 2- put sugar packet in the box 3- put sugar packet in the box 4- put sugar packet in the box 5- put sugar packet in the box Q: next 5 steps? \u003cPRED\u003eA: 1- put packet in box 2- put sugar packet in the box 3- put sugar packet in the box 4- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet in box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet in box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the coffee packets in the box. last 20 steps: 1- put sugar packet in the box 2- put sugar packet in the box 3- put sugar packet in the box 4- put sugar packet in the box 5- put sugar packet in the box Q: immediate next step? \u003cPRED\u003eA: put packet in box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput packet in box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet in box\n\u003c/PRED\u003e","video":"17638276701454908371.mp4"}
+{"uid":"9955635840730960921","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the coffee packets in the box. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put the packet in the carton\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the packet in the carton Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the coffee packets in the box Q: immediate next step? \u003cPRED\u003eA: put the packet in the carton\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the packet in the carton\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the packet in the carton Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the coffee packets in the box. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put the packet in the carton 2- put sugar packet in the box 3- put sugar packet in the box 4- put sugar packet in the box 5- put sugar packet in the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the packet in the carton\n\u003c/PRED\u003e","video":"5748923997351055806.mp4"}
+{"uid":"9196609548083856482","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put the coffee packets in the box Q: immediate next step? \u003cPRED\u003eA: put the packet in the carton\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the packet in the carton Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the packet in the carton\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the coffee packets in the box. last 20 steps: 1- put sugar packet in the box Q: immediate next step? \u003cPRED\u003eA: put the packet in the carton\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the packet in the carton\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the coffee packets in the box. last 20 steps: 1- put sugar packet in the box Q: next 5 steps? \u003cPRED\u003eA: 1- put the packet in the carton 2- put sugar packet in the box 3- put sugar packet in the box 4- put sugar packet in the box 5- put sugar packet in the box\n\u003c/PRED\u003e","video":"992212065826309035.mp4"}
+{"uid":"9583727729706644775","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the candy in a tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17698332543046854788.mp4"}
+{"uid":"13952213536045362001","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the redbull can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5818722988375448752.mp4"}
+{"uid":"13432090022474978951","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput water bottle on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1217730650694720911.mp4"}
+{"uid":"17646290604822791413","text":"\u003ctask:success:discrete:False\u003e\nkeep the cup upright Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nkeep the cup upright Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: keep the cup upright\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please flips the bowls then seperate the green, yellow and pink candy. Then place the tongs and the forks in the bins. Q: immediate next step? \u003cPRED\u003eA: keep the cup upright\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please flips the bowls then seperate the green, yellow and pink candy. Then place the tongs and the forks in the bins. last 20 steps: 1- keep the cup upright Q: immediate next step? \u003cPRED\u003eA: keep the cup upright\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: keep the cup upright\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please flips the bowls then seperate the green, yellow and pink candy. Then place the tongs and the forks in the bins. last 20 steps: 1- keep the cup upright Q: next 5 steps? \u003cPRED\u003eA: 1- keep the cup upright 2- put the green packet into the bowl 3- put the green packet into the bowl 4- put the green packet into the bowl 5- put the green packet into the bowl\n\u003c/PRED\u003e","video":"17036074316503515725.mp4"}
+{"uid":"1257479503984326621","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the yellow packet in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4157291749752795058.mp4"}
+{"uid":"16957474384592204463","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput pear on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7753033296743488742.mp4"}
+{"uid":"7356509115785030871","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the 2nd pen on the rack Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4346043711318266582.mp4"}
+{"uid":"14669561994436222218","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13442629341015411134.mp4"}
+{"uid":"6693665228047370647","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the yellow packet into the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please flips the bowls then seperate the green, yellow and pink candy. Then place the tongs and the forks in the bins. last 20 steps: 1- keep the cup upright 2- keep the cup upright 3- put the green packet into the bowl 4- put the green packet into the bowl 5- put the green packet into the bowl 6- put the green packet into the bowl 7- put the green packet into the bowl 8- put the pink packet into the bowl 9- put the pink packet into the bowl 10- put the pink packet into the bowl 11- put the pink packet into the bowl 12- put the pink packet into the bowl 13- put the yellow packets into the bowl 14- put the yellow packet into the bowl 15- put the yellow packet into the bowl 16- put the yellow packet into the bowl Q: immediate next step? \u003cPRED\u003eA: put the yellow packet into the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the yellow packet into the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the yellow packet into the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the yellow packet into the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please flips the bowls then seperate the green, yellow and pink candy. Then place the tongs and the forks in the bins. last 20 steps: 1- keep the cup upright 2- keep the cup upright 3- put the green packet into the bowl 4- put the green packet into the bowl 5- put the green packet into the bowl 6- put the green packet into the bowl 7- put the green packet into the bowl 8- put the pink packet into the bowl 9- put the pink packet into the bowl 10- put the pink packet into the bowl 11- put the pink packet into the bowl 12- put the pink packet into the bowl 13- put the yellow packets into the bowl 14- put the yellow packet into the bowl 15- put the yellow packet into the bowl 16- put the yellow packet into the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the yellow packet into the bowl 2- put the yellow packet into the bowl 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please flips the bowls then seperate the green, yellow and pink candy. Then place the tongs and the forks in the bins. Q: immediate next step? \u003cPRED\u003eA: put the yellow packet into the bowl\n\u003c/PRED\u003e","video":"16674049918708436302.mp4"}
+{"uid":"14451667219012378392","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nclose the drawer of the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13555112818910060428.mp4"}
+{"uid":"394313331835891183","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the paper below the coffee dispenser Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8144972378572691512.mp4"}
+{"uid":"1403200392396527957","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the cabel into the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16375314521398979989.mp4"}
+{"uid":"14663936608335917696","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the packet in the carton\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the packet in the carton\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the packet in the carton Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the coffee packets in the box. last 20 steps: 1- put sugar packet in the box 2- put sugar packet in the box 3- put sugar packet in the box 4- put sugar packet in the box 5- put sugar packet in the box 6- put sugar packet in the box 7- put sugar packet in the box Q: next 5 steps? \u003cPRED\u003eA: 1- put the packet in the carton 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the coffee packets in the box Q: immediate next step? \u003cPRED\u003eA: put the packet in the carton\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the packet in the carton Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the coffee packets in the box. last 20 steps: 1- put sugar packet in the box 2- put sugar packet in the box 3- put sugar packet in the box 4- put sugar packet in the box 5- put sugar packet in the box 6- put sugar packet in the box 7- put sugar packet in the box Q: immediate next step? \u003cPRED\u003eA: put the packet in the carton\n\u003c/PRED\u003e","video":"6804784247321329246.mp4"}
+{"uid":"15699384693981485859","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please flips the bowls then seperate the green, yellow and pink candy. Then place the tongs and the forks in the bins. last 20 steps: 1- keep the cup upright 2- keep the cup upright Q: next 5 steps? \u003cPRED\u003eA: 1- put the green packet into the bowl 2- put the green packet into the bowl 3- put the green packet into the bowl 4- put the green packet into the bowl 5- put the green packet into the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the green packet into the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the green packet into the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the green packet into the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please flips the bowls then seperate the green, yellow and pink candy. Then place the tongs and the forks in the bins. last 20 steps: 1- keep the cup upright 2- keep the cup upright Q: immediate next step? \u003cPRED\u003eA: put the green packet into the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please flips the bowls then seperate the green, yellow and pink candy. Then place the tongs and the forks in the bins. Q: immediate next step? \u003cPRED\u003eA: put the green packet into the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the green packet into the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"720798034692551605.mp4"}
+{"uid":"8842201617326862282","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the brown chip bag on the white table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4463813505723258041.mp4"}
+{"uid":"6621314753107449793","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput banana on tissue Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12115311321262817976.mp4"}
+{"uid":"2795595949660300395","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput red packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3051625172262329144.mp4"}
+{"uid":"9273082543012159310","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12140285777700766614.mp4"}
+{"uid":"2919762406640084514","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the packet in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3484935093882661767.mp4"}
+{"uid":"16029184366224574779","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the green packet into the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please flips the bowls then seperate the green, yellow and pink candy. Then place the tongs and the forks in the bins. last 20 steps: 1- keep the cup upright 2- keep the cup upright 3- put the green packet into the bowl Q: immediate next step? \u003cPRED\u003eA: put the green packet into the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the green packet into the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please flips the bowls then seperate the green, yellow and pink candy. Then place the tongs and the forks in the bins. last 20 steps: 1- keep the cup upright 2- keep the cup upright 3- put the green packet into the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the green packet into the bowl 2- put the green packet into the bowl 3- put the green packet into the bowl 4- put the green packet into the bowl 5- put the pink packet into the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please flips the bowls then seperate the green, yellow and pink candy. Then place the tongs and the forks in the bins. Q: immediate next step? \u003cPRED\u003eA: put the green packet into the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the green packet into the bowl\n\u003c/PRED\u003e","video":"16456673440333601155.mp4"}
+{"uid":"2522947851473582362","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the pink packet into the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pink packet into the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please flips the bowls then seperate the green, yellow and pink candy. Then place the tongs and the forks in the bins. last 20 steps: 1- keep the cup upright 2- keep the cup upright 3- put the green packet into the bowl 4- put the green packet into the bowl 5- put the green packet into the bowl 6- put the green packet into the bowl 7- put the green packet into the bowl 8- put the pink packet into the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the pink packet into the bowl 2- put the pink packet into the bowl 3- put the pink packet into the bowl 4- put the pink packet into the bowl 5- put the yellow packets into the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the pink packet into the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please flips the bowls then seperate the green, yellow and pink candy. Then place the tongs and the forks in the bins. Q: immediate next step? \u003cPRED\u003eA: put the pink packet into the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please flips the bowls then seperate the green, yellow and pink candy. Then place the tongs and the forks in the bins. last 20 steps: 1- keep the cup upright 2- keep the cup upright 3- put the green packet into the bowl 4- put the green packet into the bowl 5- put the green packet into the bowl 6- put the green packet into the bowl 7- put the green packet into the bowl 8- put the pink packet into the bowl Q: immediate next step? \u003cPRED\u003eA: put the pink packet into the bowl\n\u003c/PRED\u003e","video":"12731437775385999389.mp4"}
+{"uid":"127020071693556937","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace banana in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14073919369757390875.mp4"}
+{"uid":"1501940800255177294","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please flips the bowls then seperate the green, yellow and pink candy. Then place the tongs and the forks in the bins. last 20 steps: 1- keep the cup upright 2- keep the cup upright 3- put the green packet into the bowl 4- put the green packet into the bowl 5- put the green packet into the bowl 6- put the green packet into the bowl 7- put the green packet into the bowl 8- put the pink packet into the bowl 9- put the pink packet into the bowl 10- put the pink packet into the bowl 11- put the pink packet into the bowl 12- put the pink packet into the bowl 13- put the yellow packets into the bowl 14- put the yellow packet into the bowl 15- put the yellow packet into the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the yellow packet into the bowl 2- put the yellow packet into the bowl 3- put the yellow packet into the bowl 4- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please flips the bowls then seperate the green, yellow and pink candy. Then place the tongs and the forks in the bins. Q: immediate next step? \u003cPRED\u003eA: put the yellow packet into the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please flips the bowls then seperate the green, yellow and pink candy. Then place the tongs and the forks in the bins. last 20 steps: 1- keep the cup upright 2- keep the cup upright 3- put the green packet into the bowl 4- put the green packet into the bowl 5- put the green packet into the bowl 6- put the green packet into the bowl 7- put the green packet into the bowl 8- put the pink packet into the bowl 9- put the pink packet into the bowl 10- put the pink packet into the bowl 11- put the pink packet into the bowl 12- put the pink packet into the bowl 13- put the yellow packets into the bowl 14- put the yellow packet into the bowl 15- put the yellow packet into the bowl Q: immediate next step? \u003cPRED\u003eA: put the yellow packet into the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the yellow packet into the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the yellow packet into the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the yellow packet into the bowl\n\u003c/PRED\u003e","video":"16660158810522208556.mp4"}
+{"uid":"3056049645778999601","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the green packet into the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the green packet into the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please flips the bowls then seperate the green, yellow and pink candy. Then place the tongs and the forks in the bins. last 20 steps: 1- keep the cup upright 2- keep the cup upright 3- put the green packet into the bowl 4- put the green packet into the bowl 5- put the green packet into the bowl Q: immediate next step? \u003cPRED\u003eA: put the green packet into the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please flips the bowls then seperate the green, yellow and pink candy. Then place the tongs and the forks in the bins. Q: immediate next step? \u003cPRED\u003eA: put the green packet into the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the green packet into the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please flips the bowls then seperate the green, yellow and pink candy. Then place the tongs and the forks in the bins. last 20 steps: 1- keep the cup upright 2- keep the cup upright 3- put the green packet into the bowl 4- put the green packet into the bowl 5- put the green packet into the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the green packet into the bowl 2- put the green packet into the bowl 3- put the pink packet into the bowl 4- put the pink packet into the bowl 5- put the pink packet into the bowl\n\u003c/PRED\u003e","video":"2730720059605625244.mp4"}
+{"uid":"12957602695583505730","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put sugar packet in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput sugar packet in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput sugar packet in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put sugar packet in the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the coffee packets in the box Q: immediate next step? \u003cPRED\u003eA: put sugar packet in the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the coffee packets in the box. last 20 steps: 1- put sugar packet in the box 2- put sugar packet in the box 3- put sugar packet in the box 4- put sugar packet in the box 5- put sugar packet in the box Q: immediate next step? \u003cPRED\u003eA: put sugar packet in the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the coffee packets in the box. last 20 steps: 1- put sugar packet in the box 2- put sugar packet in the box 3- put sugar packet in the box 4- put sugar packet in the box 5- put sugar packet in the box Q: next 5 steps? \u003cPRED\u003eA: 1- put sugar packet in the box 2- put sugar packet in the box 3- put sugar packet in the box 4- done\n\u003c/PRED\u003e","video":"4266435857363603534.mp4"}
+{"uid":"10504497284162979798","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the blue pen in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16184600137549624750.mp4"}
+{"uid":"6886150964791471117","text":"\u003ctask:success:discrete:True\u003e\nput sugar packet in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the coffee packets in the box. last 20 steps: 1- put sugar packet in the box 2- put sugar packet in the box 3- put sugar packet in the box 4- put sugar packet in the box 5- put sugar packet in the box 6- put sugar packet in the box 7- put sugar packet in the box 8- put sugar packet in the box Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the coffee packets in the box. last 20 steps: 1- put sugar packet in the box 2- put sugar packet in the box 3- put sugar packet in the box 4- put sugar packet in the box 5- put sugar packet in the box 6- put sugar packet in the box 7- put sugar packet in the box 8- put sugar packet in the box Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put sugar packet in the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the coffee packets in the box Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"7695463861471368830.mp4"}
+{"uid":"6116900037995680700","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\narrange the plate in the stack Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9117402072990240617.mp4"}
+{"uid":"10122787442442643627","text":"\u003ctask:success:discrete:False\u003e\nPlace the orange on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the orange on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the orange on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove all the fruits from the bowl Q: immediate next step? \u003cPRED\u003eA: Place the orange on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove all the fruits from the bowl. last 20 steps: 1- place apple on the table 2- place apple on the table 3- place banana on the table 4- place orange on the table 5- Place the bunch of grapes on the table Q: immediate next step? \u003cPRED\u003eA: Place the orange on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the orange on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove all the fruits from the bowl. last 20 steps: 1- place apple on the table 2- place apple on the table 3- place banana on the table 4- place orange on the table 5- Place the bunch of grapes on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Place the orange on the table 2- place apple on the table 3- done\n\u003c/PRED\u003e","video":"9200564077157460229.mp4"}
+{"uid":"14376785417290612482","text":"\u003ctask:success:discrete:True\u003e\nPlace the apple on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the apple on the table\n\u003c/PRED\u003e","video":"2251958219377939078.mp4"}
+{"uid":"10811625970305129095","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput redbull can on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12013391701269203072.mp4"}
+{"uid":"7544184570097839683","text":"\u003ctask:success:discrete:True\u003e\nPlace the orange on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the orange on the table\n\u003c/PRED\u003e","video":"10235769657549778803.mp4"}
+{"uid":"17211379626866179451","text":"\u003ctask:success:discrete:True\u003e\nput apple on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put apple on the table\n\u003c/PRED\u003e","video":"3652788589648688216.mp4"}
+{"uid":"16054912278493132114","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the plastic knife in the paper cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5090257188858525254.mp4"}
+{"uid":"13919569843722584498","text":"\u003ctask:success:discrete:True\u003e\nplace banana on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place banana on the table\n\u003c/PRED\u003e","video":"5824073259408232653.mp4"}
+{"uid":"8466911195331591435","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place orange on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace orange on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove all the fruits from the bowl. last 20 steps: 1- place apple on the table 2- place apple on the table 3- place banana on the table Q: immediate next step? \u003cPRED\u003eA: place orange on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace orange on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove all the fruits from the bowl Q: immediate next step? \u003cPRED\u003eA: place orange on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove all the fruits from the bowl. last 20 steps: 1- place apple on the table 2- place apple on the table 3- place banana on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place orange on the table 2- Place the bunch of grapes on the table 3- Place the orange on the table 4- place apple on the table 5- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place orange on the table\n\u003c/PRED\u003e","video":"8850013679145717179.mp4"}
+{"uid":"15145672805903886645","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove your arm towards the black duster Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12648787295333118881.mp4"}
+{"uid":"5028200781232053730","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace grapes on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove all the fruits from the bowl Q: immediate next step? \u003cPRED\u003eA: place grapes on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace grapes on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove all the fruits from the bowl. last 20 steps: 1- place apple on the table 2- place apple on the table 3- place banana on the table 4- place orange on the table Q: immediate next step? \u003cPRED\u003eA: place grapes on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove all the fruits from the bowl. last 20 steps: 1- place apple on the table 2- place apple on the table 3- place banana on the table 4- place orange on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place grapes on the table 2- Place the orange on the table 3- place apple on the table 4- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place grapes on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place grapes on the table\n\u003c/PRED\u003e","video":"8503377085868738573.mp4"}
+{"uid":"11863394104980634749","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the white chip packet in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14003945861316671744.mp4"}
+{"uid":"2947708912223477780","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove all the fruits from the bowl. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put apple on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput apple on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put apple on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove all the fruits from the bowl. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put apple on the table 2- place apple on the table 3- place banana on the table 4- place orange on the table 5- Place the bunch of grapes on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove all the fruits from the bowl Q: immediate next step? \u003cPRED\u003eA: put apple on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put apple on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput apple on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12436395872137421368.mp4"}
+{"uid":"13064675542933706094","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove all the fruits from the bowl. last 20 steps: 1- place apple on the table 2- place apple on the table Q: immediate next step? \u003cPRED\u003eA: put apple on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove all the fruits from the bowl. last 20 steps: 1- place apple on the table 2- place apple on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put apple on the table 2- place orange on the table 3- Place the bunch of grapes on the table 4- Place the orange on the table 5- place apple on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput apple on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput apple on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove all the fruits from the bowl Q: immediate next step? \u003cPRED\u003eA: put apple on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put apple on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put apple on the table\n\u003c/PRED\u003e","video":"9002186885683915852.mp4"}
+{"uid":"3656740455329885681","text":"\u003ctask:success:discrete:True\u003e\nplace apple on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place apple on the table\n\u003c/PRED\u003e","video":"18025404691898995487.mp4"}
+{"uid":"8977538878884184758","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the bunch of grapes on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove all the fruits from the bowl Q: immediate next step? \u003cPRED\u003eA: Place the bunch of grapes on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the bunch of grapes on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the bunch of grapes on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the bunch of grapes on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove all the fruits from the bowl. last 20 steps: 1- place apple on the table 2- place apple on the table 3- place banana on the table 4- place orange on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Place the bunch of grapes on the table 2- Place the orange on the table 3- place apple on the table 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove all the fruits from the bowl. last 20 steps: 1- place apple on the table 2- place apple on the table 3- place banana on the table 4- place orange on the table Q: immediate next step? \u003cPRED\u003eA: Place the bunch of grapes on the table\n\u003c/PRED\u003e","video":"13043602324095971111.mp4"}
+{"uid":"17949638261507972456","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the green candy into the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15313279883256968810.mp4"}
+{"uid":"11082195857949504802","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput grapes on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove all the fruits from the bowl Q: immediate next step? \u003cPRED\u003eA: put grapes on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put grapes on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put grapes on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput grapes on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove all the fruits from the bowl. last 20 steps: 1- place apple on the table 2- place apple on the table 3- place banana on the table 4- place orange on the table Q: immediate next step? \u003cPRED\u003eA: put grapes on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove all the fruits from the bowl. last 20 steps: 1- place apple on the table 2- place apple on the table 3- place banana on the table 4- place orange on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put grapes on the table 2- Place the orange on the table 3- place apple on the table 4- done\n\u003c/PRED\u003e","video":"10005096799062832021.mp4"}
+{"uid":"8160088358183649243","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the cold brew can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11822762401067169099.mp4"}
+{"uid":"10810681054330095695","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place apple on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace apple on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4285279368862535730.mp4"}
+{"uid":"11419457444512427867","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the packet in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17187384388358153230.mp4"}
+{"uid":"4746228098848821088","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove all the fruits from the bowl. last 20 steps: 1- place apple on the table 2- place apple on the table 3- place banana on the table 4- place orange on the table 5- Place the bunch of grapes on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place orange on the table 2- place apple on the table 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace orange on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove all the fruits from the bowl. last 20 steps: 1- place apple on the table 2- place apple on the table 3- place banana on the table 4- place orange on the table 5- Place the bunch of grapes on the table Q: immediate next step? \u003cPRED\u003eA: place orange on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place orange on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace orange on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place orange on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove all the fruits from the bowl Q: immediate next step? \u003cPRED\u003eA: place orange on the table\n\u003c/PRED\u003e","video":"5483041229272029515.mp4"}
+{"uid":"969503751638316501","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put apple on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput apple on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16875622808664662628.mp4"}
+{"uid":"10721448825047676087","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nClose the oven door Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18279382953045996516.mp4"}
+{"uid":"17747251889054137375","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove all the fruits from the bowl. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place apple on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place apple on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace apple on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace apple on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place apple on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove all the fruits from the bowl Q: immediate next step? \u003cPRED\u003eA: place apple on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove all the fruits from the bowl. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place apple on the table 2- place apple on the table 3- place banana on the table 4- place orange on the table 5- Place the bunch of grapes on the table\n\u003c/PRED\u003e","video":"5315331034422583036.mp4"}
+{"uid":"1233904170911457252","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place apple on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove all the fruits from the bowl. last 20 steps: 1- place apple on the table 2- place apple on the table 3- place banana on the table 4- place orange on the table 5- Place the bunch of grapes on the table 6- Place the orange on the table Q: immediate next step? \u003cPRED\u003eA: place apple on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace apple on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place apple on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove all the fruits from the bowl Q: immediate next step? \u003cPRED\u003eA: place apple on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace apple on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove all the fruits from the bowl. last 20 steps: 1- place apple on the table 2- place apple on the table 3- place banana on the table 4- place orange on the table 5- Place the bunch of grapes on the table 6- Place the orange on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place apple on the table 2- done\n\u003c/PRED\u003e","video":"11349068455851005404.mp4"}
+{"uid":"9825780620890941646","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove towards the rod Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10977659890874328297.mp4"}
+{"uid":"14100782025705082894","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop pen holder inside the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6625944900857351930.mp4"}
+{"uid":"13072568835699075993","text":"\u003ctask:success:discrete:True\u003e\nPlace the orange on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the orange on the table\n\u003c/PRED\u003e","video":"7859705881014158186.mp4"}
+{"uid":"3560267156419038855","text":"\u003ctask:success:discrete:False\u003e\nPlace the apple on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove all the fruits from the bowl Q: immediate next step? \u003cPRED\u003eA: Place the apple on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove all the fruits from the bowl. last 20 steps: 1- place apple on the table 2- place apple on the table 3- place banana on the table 4- place orange on the table 5- Place the bunch of grapes on the table 6- Place the orange on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Place the apple on the table 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the apple on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove all the fruits from the bowl. last 20 steps: 1- place apple on the table 2- place apple on the table 3- place banana on the table 4- place orange on the table 5- Place the bunch of grapes on the table 6- Place the orange on the table Q: immediate next step? \u003cPRED\u003eA: Place the apple on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the apple on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the apple on the table\n\u003c/PRED\u003e","video":"11334536712660691036.mp4"}
+{"uid":"5684971996849834100","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the yellow marker on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6513266459835016743.mp4"}
+{"uid":"7542559733075988607","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the white packet in glass vessel Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6574293967434584547.mp4"}
+{"uid":"9956035634175165241","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove all the fruits from the bowl. last 20 steps: 1- place apple on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put apple on the table 2- place banana on the table 3- place orange on the table 4- Place the bunch of grapes on the table 5- Place the orange on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put apple on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput apple on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove all the fruits from the bowl. last 20 steps: 1- place apple on the table Q: immediate next step? \u003cPRED\u003eA: put apple on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put apple on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove all the fruits from the bowl Q: immediate next step? \u003cPRED\u003eA: put apple on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput apple on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2161459993821553084.mp4"}
+{"uid":"12550415672020679893","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove all the fruits from the bowl. last 20 steps: 1- place apple on the table 2- place apple on the table 3- place banana on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Place the orange on the table 2- Place the bunch of grapes on the table 3- Place the orange on the table 4- place apple on the table 5- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the orange on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove all the fruits from the bowl. last 20 steps: 1- place apple on the table 2- place apple on the table 3- place banana on the table Q: immediate next step? \u003cPRED\u003eA: Place the orange on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the orange on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the orange on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the orange on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove all the fruits from the bowl Q: immediate next step? \u003cPRED\u003eA: Place the orange on the table\n\u003c/PRED\u003e","video":"11752154301151733645.mp4"}
+{"uid":"17117911536451594712","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4210590974359501407.mp4"}
+{"uid":"18113045800895658524","text":"\u003ctask:success:discrete:True\u003e\nPlace the apple on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the apple on the table\n\u003c/PRED\u003e","video":"4570302579415698154.mp4"}
+{"uid":"11899152970685187273","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the bunch of grapes on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the bunch of grapes on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17552456999928397453.mp4"}
+{"uid":"1035541628407739165","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove all the fruits from the bowl. last 20 steps: 1- place apple on the table 2- place apple on the table 3- place banana on the table Q: immediate next step? \u003cPRED\u003eA: put orange on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput orange on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput orange on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put orange on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put orange on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove all the fruits from the bowl Q: immediate next step? \u003cPRED\u003eA: put orange on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove all the fruits from the bowl. last 20 steps: 1- place apple on the table 2- place apple on the table 3- place banana on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put orange on the table 2- Place the bunch of grapes on the table 3- Place the orange on the table 4- place apple on the table 5- done\n\u003c/PRED\u003e","video":"13201238461564846990.mp4"}
+{"uid":"15392030240159823374","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put orange on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput orange on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14755373461671456424.mp4"}
+{"uid":"203330378521333772","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove all the fruits from the bowl. last 20 steps: 1- place apple on the table 2- place apple on the table 3- place banana on the table 4- place orange on the table 5- Place the bunch of grapes on the table 6- Place the orange on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put apple on the table 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put apple on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove all the fruits from the bowl. last 20 steps: 1- place apple on the table 2- place apple on the table 3- place banana on the table 4- place orange on the table 5- Place the bunch of grapes on the table 6- Place the orange on the table Q: immediate next step? \u003cPRED\u003eA: put apple on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput apple on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput apple on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put apple on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove all the fruits from the bowl Q: immediate next step? \u003cPRED\u003eA: put apple on the table\n\u003c/PRED\u003e","video":"8807869871104501163.mp4"}
+{"uid":"5545806652721800109","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nunstack the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3994702104473555675.mp4"}
+{"uid":"9265102442283547349","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place orange on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace orange on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18091056864520106208.mp4"}
+{"uid":"11741309941008745395","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove all the fruits from the bowl. last 20 steps: 1- place apple on the table 2- place apple on the table Q: immediate next step? \u003cPRED\u003eA: place banana on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace banana on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place banana on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove all the fruits from the bowl. last 20 steps: 1- place apple on the table 2- place apple on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place banana on the table 2- place orange on the table 3- Place the bunch of grapes on the table 4- Place the orange on the table 5- place apple on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace banana on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place banana on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove all the fruits from the bowl Q: immediate next step? \u003cPRED\u003eA: place banana on the table\n\u003c/PRED\u003e","video":"16613157441308411155.mp4"}
+{"uid":"9769573463887250665","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstraight the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10530968284917097167.mp4"}
+{"uid":"11533758400937448322","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the apple on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the apple on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the apple on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove all the fruits from the bowl. last 20 steps: 1- place apple on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Place the apple on the table 2- place banana on the table 3- place orange on the table 4- Place the bunch of grapes on the table 5- Place the orange on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove all the fruits from the bowl Q: immediate next step? \u003cPRED\u003eA: Place the apple on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove all the fruits from the bowl. last 20 steps: 1- place apple on the table Q: immediate next step? \u003cPRED\u003eA: Place the apple on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the apple on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7042548956812399292.mp4"}
+{"uid":"13734691362312727580","text":"\u003ctask:success:discrete:True\u003e\nplace orange on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place orange on the table\n\u003c/PRED\u003e","video":"16835194043804278552.mp4"}
+{"uid":"10867252090319315369","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the packet in the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17684355365960876622.mp4"}
+{"uid":"7497797780481160889","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace apple on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace apple on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove all the fruits from the bowl Q: immediate next step? \u003cPRED\u003eA: place apple on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place apple on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove all the fruits from the bowl. last 20 steps: 1- place apple on the table Q: immediate next step? \u003cPRED\u003eA: place apple on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place apple on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove all the fruits from the bowl. last 20 steps: 1- place apple on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place apple on the table 2- place banana on the table 3- place orange on the table 4- Place the bunch of grapes on the table 5- Place the orange on the table\n\u003c/PRED\u003e","video":"14262618483779347461.mp4"}
+{"uid":"566068675930665116","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1117799281759559149.mp4"}
+{"uid":"16816934084481981946","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove all the fruits from the bowl. last 20 steps: 1- place apple on the table 2- place apple on the table 3- place banana on the table 4- place orange on the table 5- Place the bunch of grapes on the table 6- Place the orange on the table 7- place apple on the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove all the fruits from the bowl. last 20 steps: 1- place apple on the table 2- place apple on the table 3- place banana on the table 4- place orange on the table 5- Place the bunch of grapes on the table 6- Place the orange on the table 7- place apple on the table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace apple on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove all the fruits from the bowl Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place apple on the table\n\u003c/PRED\u003e","video":"1604539439405698182.mp4"}
+{"uid":"17650609691216694737","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the banana on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove all the fruits from the bowl Q: immediate next step? \u003cPRED\u003eA: Place the banana on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove all the fruits from the bowl. last 20 steps: 1- place apple on the table 2- place apple on the table Q: immediate next step? \u003cPRED\u003eA: Place the banana on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the banana on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove all the fruits from the bowl. last 20 steps: 1- place apple on the table 2- place apple on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Place the banana on the table 2- place orange on the table 3- Place the bunch of grapes on the table 4- Place the orange on the table 5- place apple on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the banana on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the banana on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1571971294909261505.mp4"}
+{"uid":"7952305379679358909","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput orange on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put orange on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove all the fruits from the bowl Q: immediate next step? \u003cPRED\u003eA: put orange on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put orange on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove all the fruits from the bowl. last 20 steps: 1- place apple on the table 2- place apple on the table 3- place banana on the table 4- place orange on the table 5- Place the bunch of grapes on the table Q: immediate next step? \u003cPRED\u003eA: put orange on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove all the fruits from the bowl. last 20 steps: 1- place apple on the table 2- place apple on the table 3- place banana on the table 4- place orange on the table 5- Place the bunch of grapes on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put orange on the table 2- place apple on the table 3- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput orange on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6470370977315231681.mp4"}
+{"uid":"3137237583242043146","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput packet in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11560437066190706561.mp4"}
+{"uid":"10383606556348233854","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove the right top screen cleaning wipe sachet off the table with the brush Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10285392327742522569.mp4"}
+{"uid":"6817331625302466471","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4853474030081560166.mp4"}
+{"uid":"3755352435462581404","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the apple on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove all the fruits from the bowl. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Place the apple on the table 2- place apple on the table 3- place banana on the table 4- place orange on the table 5- Place the bunch of grapes on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove all the fruits from the bowl. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Place the apple on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove all the fruits from the bowl Q: immediate next step? \u003cPRED\u003eA: Place the apple on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the apple on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the apple on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the apple on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3122878663088743280.mp4"}
+{"uid":"786329285579085993","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the yellow packet in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8799337340544773109.mp4"}
+{"uid":"9378314619861804569","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the nacho packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- place orange packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the nacho packet on the table 2- place orange packet on the table 3- place pipcorn packet on the table 4- place pipcorn packet on the table 5- place pipcorn packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: place the nacho packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the nacho packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the nacho packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- place orange packet on the table Q: immediate next step? \u003cPRED\u003eA: place the nacho packet on the table\n\u003c/PRED\u003e","video":"7108703168078763700.mp4"}
+{"uid":"7304952113578740915","text":"\u003ctask:success:discrete:False\u003e\nput packet on table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put packet on table 2- place orange packet on the table 3- place orange packet on the table 4- place pipcorn packet on the table 5- place pipcorn packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e","video":"12816333247640626340.mp4"}
+{"uid":"6934599186283070514","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: get something from the fridge to a table. last 20 steps: 1- open right fridge door Q: immediate next step? \u003cPRED\u003eA: enter the hallway\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: enter the hallway\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nenter the hallway Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: get something from the fridge to a table Q: immediate next step? \u003cPRED\u003eA: enter the hallway\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: get something from the fridge to a table. last 20 steps: 1- open right fridge door Q: next 5 steps? \u003cPRED\u003eA: 1- enter the hallway 2- place bottle on the table 3- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nenter the hallway Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: enter the hallway\n\u003c/PRED\u003e","video":"7310617941484131538.mp4"}
+{"uid":"10958518807135978083","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the nacho packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the nacho packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the nacho packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: place the nacho packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place the nacho packet on the table 2- place orange packet on the table 3- place orange packet on the table 4- place orange packet on the table 5- place pipcorn packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the nacho packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place the nacho packet on the table\n\u003c/PRED\u003e","video":"17040975588328734241.mp4"}
+{"uid":"7408715248052243130","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the candy in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11938950374050935884.mp4"}
+{"uid":"7736469785061128362","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove the aged earl grey packet backward Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16879839567313552112.mp4"}
+{"uid":"15508410211312210156","text":"\u003ctask:success:discrete:True\u003e\nenter the hallway Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: enter the hallway\n\u003c/PRED\u003e","video":"9327984425013936132.mp4"}
+{"uid":"11184327732586661137","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the can in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14246826383792384634.mp4"}
+{"uid":"12117898823401944397","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the nacho packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: place the nacho packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- place orange packet on the table 2- place orange packet on the table Q: immediate next step? \u003cPRED\u003eA: place the nacho packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the nacho packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- place orange packet on the table 2- place orange packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the nacho packet on the table 2- place orange packet on the table 3- place pipcorn packet on the table 4- place pipcorn packet on the table 5- place pipcorn packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the nacho packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2604553781820271771.mp4"}
+{"uid":"10919836364005904919","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:False\u003e\nput packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7714513010644352405.mp4"}
+{"uid":"11771659572836353504","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput square in the blue drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2505955166316056386.mp4"}
+{"uid":"15278480670011705494","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPull up the top side of the track pants Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4372622078265481210.mp4"}
+{"uid":"12510577361979261536","text":"\u003ctask:success:discrete:False\u003e\nput packet on table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- place orange packet on the table 2- place orange packet on the table 3- place orange packet on the table 4- place orange packet on the table 5- place pipcorn packet on the table 6- place pipcorn packet on the table Q: immediate next step? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- place orange packet on the table 2- place orange packet on the table 3- place orange packet on the table 4- place orange packet on the table 5- place pipcorn packet on the table 6- place pipcorn packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put packet on table 2- done\n\u003c/PRED\u003e","video":"11731104948929658770.mp4"}
+{"uid":"14233381869146075892","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the candy in the tray box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2211139933554873869.mp4"}
+{"uid":"8342610208702951689","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place bottle on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: get something from the fridge to a table Q: immediate next step? \u003cPRED\u003eA: place bottle on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place bottle on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace bottle on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: get something from the fridge to a table. last 20 steps: 1- open right fridge door 2- enter the hallway Q: next 5 steps? \u003cPRED\u003eA: 1- place bottle on the table 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace bottle on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: get something from the fridge to a table. last 20 steps: 1- open right fridge door 2- enter the hallway Q: immediate next step? \u003cPRED\u003eA: place bottle on the table\n\u003c/PRED\u003e","video":"3514464317148159081.mp4"}
+{"uid":"13180924059342126137","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- place orange packet on the table 2- place orange packet on the table 3- place orange packet on the table 4- place orange packet on the table 5- place pipcorn packet on the table 6- place pipcorn packet on the table 7- place pipcorn packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put packet on table 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- place orange packet on the table 2- place orange packet on the table 3- place orange packet on the table 4- place orange packet on the table 5- place pipcorn packet on the table 6- place pipcorn packet on the table 7- place pipcorn packet on the table Q: immediate next step? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e","video":"6932851075814833738.mp4"}
+{"uid":"4650218226401583278","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- place orange packet on the table 2- place orange packet on the table 3- place orange packet on the table Q: immediate next step? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput packet on table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- place orange packet on the table 2- place orange packet on the table 3- place orange packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put packet on table 2- place pipcorn packet on the table 3- place pipcorn packet on the table 4- place pipcorn packet on the table 5- place pipcorn packet on the table\n\u003c/PRED\u003e","video":"12753319307091384710.mp4"}
+{"uid":"699838442072777408","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the green candy in the bottom part of the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9205694318591076547.mp4"}
+{"uid":"13572458911107988323","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the white sugar packet in the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9891221829628004201.mp4"}
+{"uid":"11822336212897532956","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pistachio in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2150147911584559787.mp4"}
+{"uid":"15888878704648921374","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the apple in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13327887585021492435.mp4"}
+{"uid":"13289182935169507273","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the candy on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"658998310455264829.mp4"}
+{"uid":"7098923135781122164","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place pipcorn packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: place pipcorn packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace pipcorn packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place pipcorn packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- place orange packet on the table 2- place orange packet on the table 3- place orange packet on the table 4- place orange packet on the table 5- place pipcorn packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place pipcorn packet on the table 2- place pipcorn packet on the table 3- place pipcorn packet on the table 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- place orange packet on the table 2- place orange packet on the table 3- place orange packet on the table 4- place orange packet on the table 5- place pipcorn packet on the table Q: immediate next step? \u003cPRED\u003eA: place pipcorn packet on the table\n\u003c/PRED\u003e","video":"11404870149000306490.mp4"}
+{"uid":"14669397996963571066","text":"\u003ctask:success:discrete:False\u003e\nplace the pip corn packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the pip corn packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: place the pip corn packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the pip corn packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- place orange packet on the table 2- place orange packet on the table 3- place orange packet on the table 4- place orange packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the pip corn packet on the table 2- place pipcorn packet on the table 3- place pipcorn packet on the table 4- place pipcorn packet on the table 5- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- place orange packet on the table 2- place orange packet on the table 3- place orange packet on the table 4- place orange packet on the table Q: immediate next step? \u003cPRED\u003eA: place the pip corn packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the pip corn packet on the table\n\u003c/PRED\u003e","video":"8597080329508373230.mp4"}
+{"uid":"4797240240300913640","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace pipcorn packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace pipcorn packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- place orange packet on the table 2- place orange packet on the table 3- place orange packet on the table 4- place orange packet on the table 5- place pipcorn packet on the table 6- place pipcorn packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place pipcorn packet on the table 2- place pipcorn packet on the table 3- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place pipcorn packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- place orange packet on the table 2- place orange packet on the table 3- place orange packet on the table 4- place orange packet on the table 5- place pipcorn packet on the table 6- place pipcorn packet on the table Q: immediate next step? \u003cPRED\u003eA: place pipcorn packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: place pipcorn packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place pipcorn packet on the table\n\u003c/PRED\u003e","video":"3173493627637040263.mp4"}
+{"uid":"10134795298750601079","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: get something from the fridge to a table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: get something from the fridge to a table. last 20 steps: 1- open right fridge door 2- enter the hallway 3- place bottle on the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place bottle on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: get something from the fridge to a table. last 20 steps: 1- open right fridge door 2- enter the hallway 3- place bottle on the table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace bottle on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4505359452271820947.mp4"}
+{"uid":"4797817702807642028","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: place pipcorn packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place pipcorn packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place pipcorn packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace pipcorn packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- place orange packet on the table 2- place orange packet on the table 3- place orange packet on the table 4- place orange packet on the table 5- place pipcorn packet on the table 6- place pipcorn packet on the table 7- place pipcorn packet on the table Q: immediate next step? \u003cPRED\u003eA: place pipcorn packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- place orange packet on the table 2- place orange packet on the table 3- place orange packet on the table 4- place orange packet on the table 5- place pipcorn packet on the table 6- place pipcorn packet on the table 7- place pipcorn packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place pipcorn packet on the table 2- done\n\u003c/PRED\u003e","video":"8307098863373505861.mp4"}
+{"uid":"4972379190573002614","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the marker in the glass tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9970335372335530085.mp4"}
+{"uid":"9173033723019444926","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the numi tea bag box in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18346506277531818705.mp4"}
+{"uid":"17088187716473755385","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- place orange packet on the table Q: immediate next step? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- place orange packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put packet on table 2- place orange packet on the table 3- place pipcorn packet on the table 4- place pipcorn packet on the table 5- place pipcorn packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11887336188299229512.mp4"}
+{"uid":"3555645789319916566","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the pip corn packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the pip corn packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the pip corn packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: place the pip corn packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- place orange packet on the table 2- place orange packet on the table 3- place orange packet on the table 4- place orange packet on the table 5- place pipcorn packet on the table 6- place pipcorn packet on the table 7- place pipcorn packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the pip corn packet on the table 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- place orange packet on the table 2- place orange packet on the table 3- place orange packet on the table 4- place orange packet on the table 5- place pipcorn packet on the table 6- place pipcorn packet on the table 7- place pipcorn packet on the table Q: immediate next step? \u003cPRED\u003eA: place the pip corn packet on the table\n\u003c/PRED\u003e","video":"6960559184460124892.mp4"}
+{"uid":"10373207307287136800","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: place the nacho packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the nacho packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the nacho packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the nacho packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- place orange packet on the table 2- place orange packet on the table 3- place orange packet on the table Q: immediate next step? \u003cPRED\u003eA: place the nacho packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- place orange packet on the table 2- place orange packet on the table 3- place orange packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the nacho packet on the table 2- place pipcorn packet on the table 3- place pipcorn packet on the table 4- place pipcorn packet on the table 5- place pipcorn packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the nacho packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15509679926545380640.mp4"}
+{"uid":"6777453717393983827","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace yellow packet in bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10685164041584568925.mp4"}
+{"uid":"12119906177219680904","text":"\u003ctask:success:discrete:True\u003e\nopen right fridge door Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: open right fridge door\n\u003c/PRED\u003e","video":"11354526329896489107.mp4"}
+{"uid":"6028674127423056587","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput pistachio in middle cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8397137255054710098.mp4"}
+{"uid":"17876728524905538748","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- place orange packet on the table 2- place orange packet on the table 3- place orange packet on the table 4- place orange packet on the table 5- place pipcorn packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the pip corn packet on the table 2- place pipcorn packet on the table 3- place pipcorn packet on the table 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- place orange packet on the table 2- place orange packet on the table 3- place orange packet on the table 4- place orange packet on the table 5- place pipcorn packet on the table Q: immediate next step? \u003cPRED\u003eA: place the pip corn packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- place orange packet on the table 2- place orange packet on the table 3- place orange packet on the table 4- place orange packet on the table 5- place pipcorn packet on the table Q: immediate next step? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the pip corn packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the pip corn packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the pip corn packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- place orange packet on the table 2- place orange packet on the table 3- place orange packet on the table 4- place orange packet on the table 5- place pipcorn packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put packet on table 2- place pipcorn packet on the table 3- place pipcorn packet on the table 4- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: place the pip corn packet on the table\n\u003c/PRED\u003e","video":"8053656086950032592.mp4"}
+{"uid":"3661635965841024164","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- place orange packet on the table 2- place orange packet on the table 3- place orange packet on the table 4- place orange packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put packet on table 2- place pipcorn packet on the table 3- place pipcorn packet on the table 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- place orange packet on the table 2- place orange packet on the table 3- place orange packet on the table 4- place orange packet on the table Q: immediate next step? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e","video":"17087622915218773840.mp4"}
+{"uid":"5298044296121087260","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up the right side orange chocolate wrap Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18315680610756457487.mp4"}
+{"uid":"17494381301951836887","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"920215179686219990.mp4"}
+{"uid":"9918200072145062361","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pink packet in the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"726412168541291209.mp4"}
+{"uid":"11695905794729587783","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace popcorn bag on counter from tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8377989064669164138.mp4"}
+{"uid":"12297273668566864320","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"515940743862967398.mp4"}
+{"uid":"3864823864837271930","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: place orange packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- place orange packet on the table 2- place orange packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place orange packet on the table 2- place orange packet on the table 3- place pipcorn packet on the table 4- place pipcorn packet on the table 5- place pipcorn packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place orange packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- place orange packet on the table 2- place orange packet on the table Q: immediate next step? \u003cPRED\u003eA: place orange packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place orange packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace orange packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9411395412036368086.mp4"}
+{"uid":"1257442401224097743","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- place orange packet on the table 2- place orange packet on the table Q: immediate next step? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- place orange packet on the table 2- place orange packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put packet on table 2- place orange packet on the table 3- place pipcorn packet on the table 4- place pipcorn packet on the table 5- place pipcorn packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e","video":"13167482112826401280.mp4"}
+{"uid":"16865809124499237639","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the blue packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13546172151888131493.mp4"}
+{"uid":"4131742316956241860","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove the blue candy to right side Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3881219281226587369.mp4"}
+{"uid":"4506913762303979655","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the blue highlighter in the black holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5915042651960244873.mp4"}
+{"uid":"16343094654356472742","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the cup on the cups stack Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17099219772832541627.mp4"}
+{"uid":"15103954114856579515","text":"\u003ctask:success:discrete:False\u003e\nplace the pip corn packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- place orange packet on the table 2- place orange packet on the table 3- place orange packet on the table 4- place orange packet on the table 5- place pipcorn packet on the table 6- place pipcorn packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the pip corn packet on the table 2- place pipcorn packet on the table 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the pip corn packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- place orange packet on the table 2- place orange packet on the table 3- place orange packet on the table 4- place orange packet on the table 5- place pipcorn packet on the table 6- place pipcorn packet on the table Q: immediate next step? \u003cPRED\u003eA: place the pip corn packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the pip corn packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the pip corn packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: place the pip corn packet on the table\n\u003c/PRED\u003e","video":"5047749409278754056.mp4"}
+{"uid":"7300504907811484456","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place orange packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- place orange packet on the table 2- place orange packet on the table 3- place orange packet on the table Q: immediate next step? \u003cPRED\u003eA: place orange packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace orange packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- place orange packet on the table 2- place orange packet on the table 3- place orange packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place orange packet on the table 2- place pipcorn packet on the table 3- place pipcorn packet on the table 4- place pipcorn packet on the table 5- place pipcorn packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: place orange packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place orange packet on the table\n\u003c/PRED\u003e","video":"3467315246251380847.mp4"}
+{"uid":"14112192552837361624","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place pipcorn packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- place orange packet on the table 2- place orange packet on the table 3- place orange packet on the table 4- place orange packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place pipcorn packet on the table 2- place pipcorn packet on the table 3- place pipcorn packet on the table 4- place pipcorn packet on the table 5- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace pipcorn packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- place orange packet on the table 2- place orange packet on the table 3- place orange packet on the table 4- place orange packet on the table Q: immediate next step? \u003cPRED\u003eA: place pipcorn packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace pipcorn packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: place pipcorn packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place pipcorn packet on the table\n\u003c/PRED\u003e","video":"16867777496858804237.mp4"}
+{"uid":"10931380790016751984","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open right fridge door\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nopen right fridge door Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open right fridge door\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: get something from the fridge to a table. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- open right fridge door 2- enter the hallway 3- place bottle on the table 4- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: get something from the fridge to a table Q: immediate next step? \u003cPRED\u003eA: open right fridge door\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: get something from the fridge to a table. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: open right fridge door\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nopen right fridge door Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10731164764394300471.mp4"}
+{"uid":"15513042801562309873","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place orange packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: place orange packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- place orange packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place orange packet on the table 2- place orange packet on the table 3- place orange packet on the table 4- place pipcorn packet on the table 5- place pipcorn packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place orange packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace orange packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- place orange packet on the table Q: immediate next step? \u003cPRED\u003eA: place orange packet on the table\n\u003c/PRED\u003e","video":"16884352510606637081.mp4"}
+{"uid":"10449215941878877625","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace orange packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: place orange packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace orange packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place orange packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place orange packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place orange packet on the table 2- place orange packet on the table 3- place orange packet on the table 4- place orange packet on the table 5- place pipcorn packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place orange packet on the table\n\u003c/PRED\u003e","video":"57631582148804223.mp4"}
+{"uid":"13621722188597502757","text":"\u003ctask:success:discrete:True\u003e\nDrop marker into glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Drop marker into glass\n\u003c/PRED\u003e","video":"12320176371656309218.mp4"}
+{"uid":"2112803642087989817","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the fork in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6470447822779277935.mp4"}
+{"uid":"15771251779002927661","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace hint bottle on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1498472452071655831.mp4"}
+{"uid":"12337364663546059482","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Grab marker\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nGrab marker Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9933967299979683830.mp4"}
+{"uid":"18142658413144730921","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please sort the markers in each cup Q: immediate next step? \u003cPRED\u003eA: put the black marker in the glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the black marker in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the black marker in the glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the black marker in the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please sort the markers in each cup. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put the black marker in the glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please sort the markers in each cup. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put the black marker in the glass 2- Drop marker into glass 3- Drop marker into glass 4- Drop marker into glass 5- Move glass to left\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the black marker in the glass\n\u003c/PRED\u003e","video":"12069151070612516928.mp4"}
+{"uid":"192062109717824280","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pistachio in the paper cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14211075201766151847.mp4"}
+{"uid":"14810163345533918742","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the blue marker in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the orange marker in the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the blue marker in the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the blue marker in the glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please sort the markers in each cup. last 20 steps: 1- Grab marker 2- put the black marker in the glass 3- Drop marker into glass 4- Drop marker into glass 5- Drop marker into glass 6- Move glass to left 7- Drop marker into glass 8- put the orange marker in the glass Q: next 5 steps? \u003cPRED\u003eA: 1- put the blue marker in the glass 2- done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the orange marker in the glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the blue marker in the glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please sort the markers in each cup Q: immediate next step? \u003cPRED\u003eA: put the blue marker in the glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please sort the markers in each cup. last 20 steps: 1- Grab marker 2- put the black marker in the glass 3- Drop marker into glass 4- Drop marker into glass 5- Drop marker into glass 6- Move glass to left 7- Drop marker into glass 8- put the orange marker in the glass Q: immediate next step? \u003cPRED\u003eA: put the blue marker in the glass\n\u003c/PRED\u003e","video":"17222911574869342170.mp4"}
+{"uid":"276345642238947080","text":"\u003ctask:success:discrete:True\u003e\nDrop marker into glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please sort the markers in each cup Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please sort the markers in each cup. last 20 steps: 1- Grab marker 2- put the black marker in the glass 3- Drop marker into glass 4- Drop marker into glass 5- Drop marker into glass 6- Move glass to left 7- Drop marker into glass 8- put the orange marker in the glass 9- Drop marker into glass Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Drop marker into glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please sort the markers in each cup. last 20 steps: 1- Grab marker 2- put the black marker in the glass 3- Drop marker into glass 4- Drop marker into glass 5- Drop marker into glass 6- Move glass to left 7- Drop marker into glass 8- put the orange marker in the glass 9- Drop marker into glass Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"9903442915464287813.mp4"}
+{"uid":"12097420738002603322","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the black marker in the glass\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the black marker in the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8167256867258738838.mp4"}
+{"uid":"14681382735668591548","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the black marker in the glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the black marker in the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please sort the markers in each cup. last 20 steps: 1- Grab marker 2- put the black marker in the glass 3- Drop marker into glass 4- Drop marker into glass Q: immediate next step? \u003cPRED\u003eA: put the black marker in the glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the black marker in the glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please sort the markers in each cup. last 20 steps: 1- Grab marker 2- put the black marker in the glass 3- Drop marker into glass 4- Drop marker into glass Q: next 5 steps? \u003cPRED\u003eA: 1- put the black marker in the glass 2- Move glass to left 3- Drop marker into glass 4- put the orange marker in the glass 5- put the blue marker in the glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please sort the markers in each cup Q: immediate next step? \u003cPRED\u003eA: put the black marker in the glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the black marker in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1292190893354799981.mp4"}
+{"uid":"9457419241137863143","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the orange marker in the glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please sort the markers in each cup. last 20 steps: 1- Grab marker 2- put the black marker in the glass 3- Drop marker into glass 4- Drop marker into glass 5- Drop marker into glass 6- Move glass to left Q: immediate next step? \u003cPRED\u003eA: put the orange marker in the glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please sort the markers in each cup. last 20 steps: 1- Grab marker 2- put the black marker in the glass 3- Drop marker into glass 4- Drop marker into glass 5- Drop marker into glass 6- Move glass to left Q: next 5 steps? \u003cPRED\u003eA: 1- put the orange marker in the glass 2- put the orange marker in the glass 3- put the blue marker in the glass 4- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please sort the markers in each cup Q: immediate next step? \u003cPRED\u003eA: put the orange marker in the glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the orange marker in the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the orange marker in the glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the orange marker in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14899014218468608100.mp4"}
+{"uid":"12156829922909534883","text":"\u003ctask:success:discrete:True\u003e\nPlace the brown marker in the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the brown marker in the cup\n\u003c/PRED\u003e","video":"13905400394272881770.mp4"}
+{"uid":"17322373210616498234","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please sort the markers in each cup. last 20 steps: 1- Grab marker 2- put the black marker in the glass 3- Drop marker into glass 4- Drop marker into glass 5- Drop marker into glass 6- Move glass to left 7- Drop marker into glass 8- Drop marker into glass Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Drop marker into glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please sort the markers in each cup Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please sort the markers in each cup. last 20 steps: 1- Grab marker 2- put the black marker in the glass 3- Drop marker into glass 4- Drop marker into glass 5- Drop marker into glass 6- Move glass to left 7- Drop marker into glass 8- Drop marker into glass Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nDrop marker into glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2132544233473417221.mp4"}
+{"uid":"14247665331418476492","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the red marker in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8538057807342101380.mp4"}
+{"uid":"11870189979278720530","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6074474916430688155.mp4"}
+{"uid":"11467480077795324266","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the blue pen in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8713358887280342480.mp4"}
+{"uid":"7894626988810694932","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the green marker in the cup\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the green marker in the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4591881024782495827.mp4"}
+{"uid":"6219498259433712236","text":"\u003ctask:success:discrete:True\u003e\nDrop marker into glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Drop marker into glass\n\u003c/PRED\u003e","video":"16147306549442051498.mp4"}
+{"uid":"12013425846438540824","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the black marker in the cup\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the black marker in the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3562295903655122680.mp4"}
+{"uid":"13612177845532122167","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the parchment paper in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13195663149282354437.mp4"}
+{"uid":"5227105094477355824","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace a packet in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7267421373094911429.mp4"}
+{"uid":"7247124402879709858","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the black marker in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please sort the markers in each cup. last 20 steps: 1- Grab marker 2- put the black marker in the glass 3- Drop marker into glass Q: immediate next step? \u003cPRED\u003eA: put the black marker in the glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please sort the markers in each cup. last 20 steps: 1- Grab marker 2- put the black marker in the glass 3- Drop marker into glass Q: next 5 steps? \u003cPRED\u003eA: 1- put the black marker in the glass 2- Drop marker into glass 3- Move glass to left 4- Drop marker into glass 5- put the orange marker in the glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the black marker in the glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the black marker in the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please sort the markers in each cup Q: immediate next step? \u003cPRED\u003eA: put the black marker in the glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the black marker in the glass\n\u003c/PRED\u003e","video":"10457937919487127688.mp4"}
+{"uid":"9244777686689411319","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the brown marker in the cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please sort the markers in each cup. last 20 steps: 1- Grab marker 2- put the black marker in the glass 3- Drop marker into glass 4- Drop marker into glass 5- Drop marker into glass 6- Move glass to left 7- Drop marker into glass Q: immediate next step? \u003cPRED\u003eA: Place the brown marker in the cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please sort the markers in each cup Q: immediate next step? \u003cPRED\u003eA: Place the brown marker in the cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the brown marker in the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please sort the markers in each cup. last 20 steps: 1- Grab marker 2- put the black marker in the glass 3- Drop marker into glass 4- Drop marker into glass 5- Drop marker into glass 6- Move glass to left 7- Drop marker into glass Q: next 5 steps? \u003cPRED\u003eA: 1- Place the brown marker in the cup 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the brown marker in the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the brown marker in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14860339202105763233.mp4"}
+{"uid":"5415102369704929528","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the black marker in the glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the black marker in the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please sort the markers in each cup Q: immediate next step? \u003cPRED\u003eA: put the black marker in the glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the black marker in the glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the black marker in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please sort the markers in each cup. last 20 steps: 1- Grab marker 2- put the black marker in the glass Q: immediate next step? \u003cPRED\u003eA: put the black marker in the glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please sort the markers in each cup. last 20 steps: 1- Grab marker 2- put the black marker in the glass Q: next 5 steps? \u003cPRED\u003eA: 1- put the black marker in the glass 2- Drop marker into glass 3- Drop marker into glass 4- Move glass to left 5- Drop marker into glass\n\u003c/PRED\u003e","video":"12255223441265067188.mp4"}
+{"uid":"2390137632861649306","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the pink packets into the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13251830236031615218.mp4"}
+{"uid":"15488029917526855153","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please sort the markers in each cup. last 20 steps: 1- Grab marker 2- put the black marker in the glass 3- Drop marker into glass 4- Drop marker into glass 5- Drop marker into glass 6- Move glass to left 7- Drop marker into glass Q: next 5 steps? \u003cPRED\u003eA: 1- put the orange marker in the glass 2- put the blue marker in the glass 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the orange marker in the glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please sort the markers in each cup Q: immediate next step? \u003cPRED\u003eA: put the orange marker in the glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the orange marker in the glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please sort the markers in each cup. last 20 steps: 1- Grab marker 2- put the black marker in the glass 3- Drop marker into glass 4- Drop marker into glass 5- Drop marker into glass 6- Move glass to left 7- Drop marker into glass Q: immediate next step? \u003cPRED\u003eA: put the orange marker in the glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the orange marker in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10611965406603615321.mp4"}
+{"uid":"4804770836439949405","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop the illy packets in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2172352868190576271.mp4"}
+{"uid":"3052611721784320833","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please sort the markers in each cup. last 20 steps: 1- Grab marker 2- put the black marker in the glass Q: immediate next step? \u003cPRED\u003eA: Place the green marker in the cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please sort the markers in each cup. last 20 steps: 1- Grab marker 2- put the black marker in the glass Q: next 5 steps? \u003cPRED\u003eA: 1- Place the green marker in the cup 2- Drop marker into glass 3- Drop marker into glass 4- Move glass to left 5- Drop marker into glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the green marker in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the green marker in the cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please sort the markers in each cup Q: immediate next step? \u003cPRED\u003eA: Place the green marker in the cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the green marker in the cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the green marker in the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4785594120388160139.mp4"}
+{"uid":"18287417057669352314","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the plastic fork in stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3313446196537087942.mp4"}
+{"uid":"12966445980418740583","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please sort the markers in each cup Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please sort the markers in each cup. last 20 steps: 1- Grab marker 2- put the black marker in the glass 3- Drop marker into glass 4- Drop marker into glass 5- Drop marker into glass 6- Move glass to left 7- Drop marker into glass 8- Place the brown marker in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the brown marker in the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please sort the markers in each cup. last 20 steps: 1- Grab marker 2- put the black marker in the glass 3- Drop marker into glass 4- Drop marker into glass 5- Drop marker into glass 6- Move glass to left 7- Drop marker into glass 8- Place the brown marker in the cup Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the brown marker in the cup\n\u003c/PRED\u003e","video":"9917650405133122438.mp4"}
+{"uid":"12965447008843786906","text":"\u003ctask:success:discrete:True\u003e\nput the orange marker in the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the orange marker in the glass\n\u003c/PRED\u003e","video":"15123970026722211927.mp4"}
+{"uid":"851174706610356380","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please sort the markers in each cup. last 20 steps: 1- Grab marker 2- put the black marker in the glass 3- Drop marker into glass Q: next 5 steps? \u003cPRED\u003eA: 1- Place the green marker in the cup 2- Drop marker into glass 3- Move glass to left 4- Drop marker into glass 5- put the orange marker in the glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please sort the markers in each cup Q: immediate next step? \u003cPRED\u003eA: Place the green marker in the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the green marker in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the green marker in the cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the green marker in the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please sort the markers in each cup. last 20 steps: 1- Grab marker 2- put the black marker in the glass 3- Drop marker into glass Q: immediate next step? \u003cPRED\u003eA: Place the green marker in the cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the green marker in the cup\n\u003c/PRED\u003e","video":"3806281335353541899.mp4"}
+{"uid":"18087328133847151974","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the black marker\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please sort the markers in each cup Q: immediate next step? \u003cPRED\u003eA: Pick up the black marker\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the black marker\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please sort the markers in each cup. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Pick up the black marker\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please sort the markers in each cup. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the black marker 2- Drop marker into glass 3- Drop marker into glass 4- Drop marker into glass 5- Move glass to left\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the black marker Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the black marker Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17275719897697483516.mp4"}
+{"uid":"14342576145260441830","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the candy in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11341477649617385927.mp4"}
+{"uid":"10494444947377443586","text":"\u003ctask:success:discrete:True\u003e\nPick up the black marker Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Pick up the black marker\n\u003c/PRED\u003e","video":"6491214727160260801.mp4"}
+{"uid":"3697983604827362928","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9998719710085981371.mp4"}
+{"uid":"18329994193224054120","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the chocolate balls in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11218790716820636326.mp4"}
+{"uid":"6990930289587624938","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the candy on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5370416216752102684.mp4"}
+{"uid":"6853636736717212336","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the blue marker in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please sort the markers in each cup. last 20 steps: 1- Grab marker 2- put the black marker in the glass 3- Drop marker into glass 4- Drop marker into glass 5- Drop marker into glass 6- Move glass to left 7- Drop marker into glass 8- put the orange marker in the glass Q: immediate next step? \u003cPRED\u003eA: Place the blue marker in the cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please sort the markers in each cup Q: immediate next step? \u003cPRED\u003eA: Place the blue marker in the cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the blue marker in the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the blue marker in the cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the blue marker in the cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please sort the markers in each cup. last 20 steps: 1- Grab marker 2- put the black marker in the glass 3- Drop marker into glass 4- Drop marker into glass 5- Drop marker into glass 6- Move glass to left 7- Drop marker into glass 8- put the orange marker in the glass Q: next 5 steps? \u003cPRED\u003eA: 1- Place the blue marker in the cup 2- done\n\u003c/PRED\u003e","video":"6771342023715169920.mp4"}
+{"uid":"18171305850646649656","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Drop marker into glass\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nDrop marker into glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11652158158670038719.mp4"}
+{"uid":"6375176559116075462","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the green packet into the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6487752664828585186.mp4"}
+{"uid":"15346585093565410319","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the blue pen in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14544766170890245693.mp4"}
+{"uid":"8831537031720981989","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please sort the markers in each cup Q: immediate next step? \u003cPRED\u003eA: Drop marker into glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please sort the markers in each cup. last 20 steps: 1- Grab marker 2- put the black marker in the glass 3- Drop marker into glass 4- Drop marker into glass 5- Drop marker into glass Q: immediate next step? \u003cPRED\u003eA: Drop marker into glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop marker into glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please sort the markers in each cup. last 20 steps: 1- Grab marker 2- put the black marker in the glass 3- Drop marker into glass 4- Drop marker into glass 5- Drop marker into glass Q: next 5 steps? \u003cPRED\u003eA: 1- Drop marker into glass 2- put the orange marker in the glass 3- put the blue marker in the glass 4- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop marker into glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop marker into glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrop marker into glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6411757270862759689.mp4"}
+{"uid":"11749215266452578192","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the green marker in the cup\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the green marker in the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17119088614299660536.mp4"}
+{"uid":"7476478142631308397","text":"\u003ctask:success:discrete:True\u003e\nput the black marker in the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the black marker in the glass\n\u003c/PRED\u003e","video":"9849384270203247555.mp4"}
+{"uid":"8138957730303844933","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput pistachios in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12655024834081743067.mp4"}
+{"uid":"3474587782368117514","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput a brown packet in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6311214675187559950.mp4"}
+{"uid":"12348851246280835786","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please sort the markers in each cup. last 20 steps: 1- Grab marker Q: immediate next step? \u003cPRED\u003eA: Place the black marker in the cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the black marker in the cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the black marker in the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the black marker in the cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please sort the markers in each cup Q: immediate next step? \u003cPRED\u003eA: Place the black marker in the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the black marker in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please sort the markers in each cup. last 20 steps: 1- Grab marker Q: next 5 steps? \u003cPRED\u003eA: 1- Place the black marker in the cup 2- Drop marker into glass 3- Drop marker into glass 4- Drop marker into glass 5- Move glass to left\n\u003c/PRED\u003e","video":"6039846554190864282.mp4"}
+{"uid":"2358879667997337112","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the black packet in the right bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3412315807029533599.mp4"}
+{"uid":"4263354123046974262","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop marker into glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please sort the markers in each cup Q: immediate next step? \u003cPRED\u003eA: Drop marker into glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop marker into glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrop marker into glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please sort the markers in each cup. last 20 steps: 1- Grab marker 2- put the black marker in the glass 3- Drop marker into glass Q: next 5 steps? \u003cPRED\u003eA: 1- Drop marker into glass 2- Drop marker into glass 3- Move glass to left 4- Drop marker into glass 5- put the orange marker in the glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please sort the markers in each cup. last 20 steps: 1- Grab marker 2- put the black marker in the glass 3- Drop marker into glass Q: immediate next step? \u003cPRED\u003eA: Drop marker into glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop marker into glass\n\u003c/PRED\u003e","video":"2895135069716922869.mp4"}
+{"uid":"9590943092481798513","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nMove glass to left Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please sort the markers in each cup. last 20 steps: 1- Grab marker 2- put the black marker in the glass 3- Drop marker into glass 4- Drop marker into glass 5- Drop marker into glass Q: immediate next step? \u003cPRED\u003eA: Move glass to left\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please sort the markers in each cup Q: immediate next step? \u003cPRED\u003eA: Move glass to left\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove glass to left Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move glass to left\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move glass to left\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please sort the markers in each cup. last 20 steps: 1- Grab marker 2- put the black marker in the glass 3- Drop marker into glass 4- Drop marker into glass 5- Drop marker into glass Q: next 5 steps? \u003cPRED\u003eA: 1- Move glass to left 2- put the orange marker in the glass 3- put the blue marker in the glass 4- done\n\u003c/PRED\u003e","video":"9126303728087135896.mp4"}
+{"uid":"5546878603957291131","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop marker into glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please sort the markers in each cup. last 20 steps: 1- Grab marker 2- put the black marker in the glass 3- Drop marker into glass 4- Drop marker into glass 5- Drop marker into glass 6- Move glass to left 7- Drop marker into glass 8- put the orange marker in the glass Q: immediate next step? \u003cPRED\u003eA: Drop marker into glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please sort the markers in each cup Q: immediate next step? \u003cPRED\u003eA: Drop marker into glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop marker into glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please sort the markers in each cup. last 20 steps: 1- Grab marker 2- put the black marker in the glass 3- Drop marker into glass 4- Drop marker into glass 5- Drop marker into glass 6- Move glass to left 7- Drop marker into glass 8- put the orange marker in the glass Q: next 5 steps? \u003cPRED\u003eA: 1- Drop marker into glass 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop marker into glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrop marker into glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10396785382672295666.mp4"}
+{"uid":"10107397062891235493","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please sort the markers in each cup. last 20 steps: 1- Grab marker 2- put the black marker in the glass 3- Drop marker into glass 4- Drop marker into glass 5- Drop marker into glass 6- Move glass to left 7- Drop marker into glass Q: immediate next step? \u003cPRED\u003eA: Drop marker into glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop marker into glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop marker into glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop marker into glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please sort the markers in each cup Q: immediate next step? \u003cPRED\u003eA: Drop marker into glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please sort the markers in each cup. last 20 steps: 1- Grab marker 2- put the black marker in the glass 3- Drop marker into glass 4- Drop marker into glass 5- Drop marker into glass 6- Move glass to left 7- Drop marker into glass Q: next 5 steps? \u003cPRED\u003eA: 1- Drop marker into glass 2- done\n\u003c/PRED\u003e","video":"2692226231249491050.mp4"}
+{"uid":"14512184971308195717","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please sort the markers in each cup. last 20 steps: 1- Grab marker 2- put the black marker in the glass 3- Drop marker into glass 4- Drop marker into glass 5- Drop marker into glass 6- Move glass to left 7- Drop marker into glass 8- put the orange marker in the glass 9- put the blue marker in the glass Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please sort the markers in each cup. last 20 steps: 1- Grab marker 2- put the black marker in the glass 3- Drop marker into glass 4- Drop marker into glass 5- Drop marker into glass 6- Move glass to left 7- Drop marker into glass 8- put the orange marker in the glass 9- put the blue marker in the glass Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the blue marker in the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please sort the markers in each cup Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the blue marker in the glass\n\u003c/PRED\u003e","video":"8571373915157600081.mp4"}
+{"uid":"17538634120872934297","text":"\u003ctask:success:discrete:False\u003e\nPlace the green marker in the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please sort the markers in each cup Q: immediate next step? \u003cPRED\u003eA: Place the green marker in the cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please sort the markers in each cup. last 20 steps: 1- Grab marker 2- put the black marker in the glass 3- Drop marker into glass 4- Drop marker into glass Q: next 5 steps? \u003cPRED\u003eA: 1- Place the green marker in the cup 2- Move glass to left 3- Drop marker into glass 4- put the orange marker in the glass 5- put the blue marker in the glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please sort the markers in each cup. last 20 steps: 1- Grab marker 2- put the black marker in the glass 3- Drop marker into glass 4- Drop marker into glass Q: immediate next step? \u003cPRED\u003eA: Place the green marker in the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the green marker in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the green marker in the cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the green marker in the cup\n\u003c/PRED\u003e","video":"7431452138487953280.mp4"}
+{"uid":"5588679727633814317","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nexit the room. Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4602202730369607355.mp4"}
+{"uid":"11348899150495195510","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the packet into the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17740166187556943361.mp4"}
+{"uid":"10599918600163500832","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Drop marker into glass\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nDrop marker into glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15186614816327648653.mp4"}
+{"uid":"4461093446228439191","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput candy in tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13027442064871006198.mp4"}
+{"uid":"15601685697233923577","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please sort the markers in each cup. last 20 steps: 1- Grab marker 2- put the black marker in the glass 3- Drop marker into glass 4- Drop marker into glass 5- Drop marker into glass 6- Move glass to left Q: next 5 steps? \u003cPRED\u003eA: 1- Place the brown marker in the cup 2- put the orange marker in the glass 3- put the blue marker in the glass 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the brown marker in the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the brown marker in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please sort the markers in each cup Q: immediate next step? \u003cPRED\u003eA: Place the brown marker in the cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please sort the markers in each cup. last 20 steps: 1- Grab marker 2- put the black marker in the glass 3- Drop marker into glass 4- Drop marker into glass 5- Drop marker into glass 6- Move glass to left Q: immediate next step? \u003cPRED\u003eA: Place the brown marker in the cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the brown marker in the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the brown marker in the cup\n\u003c/PRED\u003e","video":"12411067187177532792.mp4"}
+{"uid":"12770062378609974875","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Drop marker into glass\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nDrop marker into glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10780918376224509330.mp4"}
+{"uid":"15492824834082973522","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop marker into glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please sort the markers in each cup Q: immediate next step? \u003cPRED\u003eA: Drop marker into glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrop marker into glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please sort the markers in each cup. last 20 steps: 1- Grab marker Q: next 5 steps? \u003cPRED\u003eA: 1- Drop marker into glass 2- Drop marker into glass 3- Drop marker into glass 4- Drop marker into glass 5- Move glass to left\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop marker into glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please sort the markers in each cup. last 20 steps: 1- Grab marker Q: immediate next step? \u003cPRED\u003eA: Drop marker into glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop marker into glass\n\u003c/PRED\u003e","video":"3736791447969221328.mp4"}
+{"uid":"2268722090536520947","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the black marker in the glass\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the black marker in the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2575062318683613439.mp4"}
+{"uid":"11634542707009153938","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput orange candy in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18087412547708744615.mp4"}
+{"uid":"15307739766648107059","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please sort the markers in each cup. last 20 steps: 1- Grab marker 2- put the black marker in the glass 3- Drop marker into glass 4- Drop marker into glass Q: next 5 steps? \u003cPRED\u003eA: 1- Drop marker into glass 2- Move glass to left 3- Drop marker into glass 4- put the orange marker in the glass 5- put the blue marker in the glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop marker into glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop marker into glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please sort the markers in each cup Q: immediate next step? \u003cPRED\u003eA: Drop marker into glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please sort the markers in each cup. last 20 steps: 1- Grab marker 2- put the black marker in the glass 3- Drop marker into glass 4- Drop marker into glass Q: immediate next step? \u003cPRED\u003eA: Drop marker into glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrop marker into glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop marker into glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10030702229253625182.mp4"}
+{"uid":"13718235042449054675","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please sort the markers in each cup Q: immediate next step? \u003cPRED\u003eA: Drop marker into glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop marker into glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop marker into glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop marker into glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please sort the markers in each cup. last 20 steps: 1- Grab marker 2- put the black marker in the glass Q: immediate next step? \u003cPRED\u003eA: Drop marker into glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrop marker into glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please sort the markers in each cup. last 20 steps: 1- Grab marker 2- put the black marker in the glass Q: next 5 steps? \u003cPRED\u003eA: 1- Drop marker into glass 2- Drop marker into glass 3- Drop marker into glass 4- Move glass to left 5- Drop marker into glass\n\u003c/PRED\u003e","video":"15980369946960080867.mp4"}
+{"uid":"155388304002808051","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please sort the markers in each cup. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Grab marker\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Grab marker\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Grab marker\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please sort the markers in each cup. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Grab marker 2- Drop marker into glass 3- Drop marker into glass 4- Drop marker into glass 5- Move glass to left\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nGrab marker Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nGrab marker Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please sort the markers in each cup Q: immediate next step? \u003cPRED\u003eA: Grab marker\n\u003c/PRED\u003e","video":"12145110814424081860.mp4"}
+{"uid":"3886536333271983965","text":"\u003ctask:success:discrete:True\u003e\nPlace the blue marker in the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please sort the markers in each cup. last 20 steps: 1- Grab marker 2- put the black marker in the glass 3- Drop marker into glass 4- Drop marker into glass 5- Drop marker into glass 6- Move glass to left 7- Drop marker into glass 8- put the orange marker in the glass 9- Place the blue marker in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the blue marker in the cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please sort the markers in each cup Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please sort the markers in each cup. last 20 steps: 1- Grab marker 2- put the black marker in the glass 3- Drop marker into glass 4- Drop marker into glass 5- Drop marker into glass 6- Move glass to left 7- Drop marker into glass 8- put the orange marker in the glass 9- Place the blue marker in the cup Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"15196997204777515240.mp4"}
+{"uid":"18067386292227167336","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop pear in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop pear in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop pear in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop pear in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the pears in the bowl. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- drop pear in the bowl 2- drop pear in the bowl 3- put the pear in the bowl 4- drop the pear in the bowl 5- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the pears in the bowl. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: drop pear in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the pears in the bowl Q: immediate next step? \u003cPRED\u003eA: drop pear in the bowl\n\u003c/PRED\u003e","video":"4754372983249374644.mp4"}
+{"uid":"6637628354167041056","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the white cloth in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7656268297365340932.mp4"}
+{"uid":"14299865252964359494","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the marker in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15943035745878854142.mp4"}
+{"uid":"12735436942801848166","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please clean up the spilled spoons on the table. last 20 steps: 1- put holder upright 2- put spoon in the stand 3- put spoon in the stand 4- put spoon in the stand 5- put spoon in the stand 6- put spoon in the stand 7- put spoon in the stand Q: immediate next step? \u003cPRED\u003eA: put spoon in the stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put spoon in the stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please clean up the spilled spoons on the table Q: immediate next step? \u003cPRED\u003eA: put spoon in the stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please clean up the spilled spoons on the table. last 20 steps: 1- put holder upright 2- put spoon in the stand 3- put spoon in the stand 4- put spoon in the stand 5- put spoon in the stand 6- put spoon in the stand 7- put spoon in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- put spoon in the stand 2- put spoon in the stand 3- put spoon in the stand 4- put spoon in the stand 5- put holder in middle of the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput spoon in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put spoon in the stand\n\u003c/PRED\u003e","video":"14204809379943983542.mp4"}
+{"uid":"6198813833125357210","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the pear in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the pears in the bowl Q: immediate next step? \u003cPRED\u003eA: put the pear in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the pears in the bowl. last 20 steps: 1- drop pear in the bowl 2- drop pear in the bowl Q: immediate next step? \u003cPRED\u003eA: put the pear in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pear in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the pear in bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the pears in the bowl. last 20 steps: 1- drop pear in the bowl 2- drop pear in the bowl Q: immediate next step? \u003cPRED\u003eA: put the pear in bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the pears in the bowl. last 20 steps: 1- drop pear in the bowl 2- drop pear in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the pear in bowl 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the pear in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the pear in bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the pear in bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the pear in bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the pears in the bowl. last 20 steps: 1- drop pear in the bowl 2- drop pear in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the pear in the bowl 2- drop the pear in the bowl 3- done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the pear in bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the pears in the bowl Q: immediate next step? \u003cPRED\u003eA: put the pear in bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pear in bowl\n\u003c/PRED\u003e","video":"4372388607245302719.mp4"}
+{"uid":"2724105531465028103","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please clean up the spilled spoons on the table. last 20 steps: 1- put holder upright 2- put spoon in the stand 3- put spoon in the stand 4- put spoon in the stand 5- put spoon in the stand 6- put spoon in the stand 7- put spoon in the stand 8- put spoon in the stand 9- put spoon in the stand 10- put spoon in the stand Q: immediate next step? \u003cPRED\u003eA: put spoon in the stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput spoon in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put spoon in the stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please clean up the spilled spoons on the table Q: immediate next step? \u003cPRED\u003eA: put spoon in the stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please clean up the spilled spoons on the table. last 20 steps: 1- put holder upright 2- put spoon in the stand 3- put spoon in the stand 4- put spoon in the stand 5- put spoon in the stand 6- put spoon in the stand 7- put spoon in the stand 8- put spoon in the stand 9- put spoon in the stand 10- put spoon in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- put spoon in the stand 2- put holder in middle of the table 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put spoon in the stand\n\u003c/PRED\u003e","video":"13272598714558848678.mp4"}
+{"uid":"16299304788423493926","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput spoon in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put spoon in the stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please clean up the spilled spoons on the table. last 20 steps: 1- put holder upright 2- put spoon in the stand 3- put spoon in the stand 4- put spoon in the stand 5- put spoon in the stand 6- put spoon in the stand 7- put spoon in the stand 8- put spoon in the stand Q: immediate next step? \u003cPRED\u003eA: put spoon in the stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please clean up the spilled spoons on the table Q: immediate next step? \u003cPRED\u003eA: put spoon in the stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please clean up the spilled spoons on the table. last 20 steps: 1- put holder upright 2- put spoon in the stand 3- put spoon in the stand 4- put spoon in the stand 5- put spoon in the stand 6- put spoon in the stand 7- put spoon in the stand 8- put spoon in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- put spoon in the stand 2- put spoon in the stand 3- put spoon in the stand 4- put holder in middle of the table 5- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put spoon in the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput spoon in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6922195643191245228.mp4"}
+{"uid":"972072811468143316","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the Ethernet shield box into the cardboard box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"38690354852547983.mp4"}
+{"uid":"10116847428558646754","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up the orange packet Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2485019784906485478.mp4"}
+{"uid":"17423221862810444093","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the pears in the bowl. last 20 steps: 1- drop pear in the bowl 2- drop pear in the bowl 3- put the pear in bowl Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the pears in the bowl Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the pear in bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the pears in the bowl. last 20 steps: 1- drop pear in the bowl 2- drop pear in the bowl 3- put the pear in bowl Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the pear in bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2696785439806873302.mp4"}
+{"uid":"16359464376798509261","text":"\u003ctask:success:discrete:False\u003e\nPut the pear in bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the pear in bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the pear in bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the pear in bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the pears in the bowl. last 20 steps: 1- drop pear in the bowl 2- drop pear in the bowl 3- put the pear in the bowl Q: immediate next step? \u003cPRED\u003eA: Put the pear in bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the pears in the bowl Q: immediate next step? \u003cPRED\u003eA: Put the pear in bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the pears in the bowl. last 20 steps: 1- drop pear in the bowl 2- drop pear in the bowl 3- put the pear in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put the pear in bowl 2- done\n\u003c/PRED\u003e","video":"2058436174557493829.mp4"}
+{"uid":"15608667521170614911","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please clean up the spilled spoons on the table. last 20 steps: 1- put holder upright Q: immediate next step? \u003cPRED\u003eA: put spoon in the stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put spoon in the stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please clean up the spilled spoons on the table Q: immediate next step? \u003cPRED\u003eA: put spoon in the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput spoon in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput spoon in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put spoon in the stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please clean up the spilled spoons on the table. last 20 steps: 1- put holder upright Q: next 5 steps? \u003cPRED\u003eA: 1- put spoon in the stand 2- put spoon in the stand 3- put spoon in the stand 4- put spoon in the stand 5- put spoon in the stand\n\u003c/PRED\u003e","video":"16620043828835833534.mp4"}
+{"uid":"7949701772560317937","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the banana in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7192196382990081067.mp4"}
+{"uid":"7792004482807987956","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the packet in the big basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16427901479299712087.mp4"}
+{"uid":"15944153549675982386","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pear in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the pears in the bowl. last 20 steps: 1- drop pear in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the pear in the bowl 2- put the pear in the bowl 3- drop the pear in the bowl 4- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the pears in the bowl Q: immediate next step? \u003cPRED\u003eA: put the pear in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the pears in the bowl. last 20 steps: 1- drop pear in the bowl Q: immediate next step? \u003cPRED\u003eA: put the pear in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the pear in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the pear in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16619790209107030619.mp4"}
+{"uid":"17679781584188946921","text":"\u003ctask:success:discrete:True\u003e\nput the pear in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the pear in the bowl\n\u003c/PRED\u003e","video":"15319933151750145191.mp4"}
+{"uid":"14701840840896698029","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace a candy in brown bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13505909975939402.mp4"}
+{"uid":"12194574194131113648","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput holder in middle of the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please clean up the spilled spoons on the table. last 20 steps: 1- put holder upright 2- put spoon in the stand 3- put spoon in the stand 4- put spoon in the stand 5- put spoon in the stand 6- put spoon in the stand 7- put spoon in the stand 8- put spoon in the stand 9- put spoon in the stand 10- put spoon in the stand 11- put spoon in the stand Q: immediate next step? \u003cPRED\u003eA: put holder in middle of the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please clean up the spilled spoons on the table. last 20 steps: 1- put holder upright 2- put spoon in the stand 3- put spoon in the stand 4- put spoon in the stand 5- put spoon in the stand 6- put spoon in the stand 7- put spoon in the stand 8- put spoon in the stand 9- put spoon in the stand 10- put spoon in the stand 11- put spoon in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- put holder in middle of the table 2- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput holder in middle of the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please clean up the spilled spoons on the table Q: immediate next step? \u003cPRED\u003eA: put holder in middle of the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put holder in middle of the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put holder in middle of the table\n\u003c/PRED\u003e","video":"934979904815342302.mp4"}
+{"uid":"12226171891926856439","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11873840795540974338.mp4"}
+{"uid":"3821662495148494781","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the packet in the trash bin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5540870468750686361.mp4"}
+{"uid":"4490338738651061664","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please clean up the spilled spoons on the table. last 20 steps: 1- put holder upright 2- put spoon in the stand 3- put spoon in the stand 4- put spoon in the stand Q: immediate next step? \u003cPRED\u003eA: put spoon in the stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please clean up the spilled spoons on the table. last 20 steps: 1- put holder upright 2- put spoon in the stand 3- put spoon in the stand 4- put spoon in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- put spoon in the stand 2- put spoon in the stand 3- put spoon in the stand 4- put spoon in the stand 5- put spoon in the stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please clean up the spilled spoons on the table Q: immediate next step? \u003cPRED\u003eA: put spoon in the stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put spoon in the stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput spoon in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put spoon in the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput spoon in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1915145978418084575.mp4"}
+{"uid":"360801508863737187","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the pears in the bowl. last 20 steps: 1- drop pear in the bowl 2- drop pear in the bowl 3- put the pear in the bowl Q: immediate next step? \u003cPRED\u003eA: put the pear in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the pear in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the pears in the bowl. last 20 steps: 1- drop pear in the bowl 2- drop pear in the bowl 3- put the pear in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the pear in the bowl 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the pears in the bowl Q: immediate next step? \u003cPRED\u003eA: put the pear in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pear in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the pear in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17211934449202951464.mp4"}
+{"uid":"8934567879306801679","text":"\u003ctask:success:discrete:True\u003e\ndrop pear in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop pear in the bowl\n\u003c/PRED\u003e","video":"3643149712163348113.mp4"}
+{"uid":"563724168493047622","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop pear in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop pear in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop pear in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the pears in the bowl. last 20 steps: 1- drop pear in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- drop pear in the bowl 2- put the pear in the bowl 3- drop the pear in the bowl 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the pears in the bowl. last 20 steps: 1- drop pear in the bowl Q: immediate next step? \u003cPRED\u003eA: drop pear in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the pears in the bowl Q: immediate next step? \u003cPRED\u003eA: drop pear in the bowl\n\u003c/PRED\u003e","video":"12790937543879912501.mp4"}
+{"uid":"15766218617127180270","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please clean up the spilled spoons on the table. last 20 steps: 1- put holder upright 2- put spoon in the stand 3- put spoon in the stand 4- put spoon in the stand 5- put spoon in the stand 6- put spoon in the stand 7- put spoon in the stand 8- put spoon in the stand 9- put spoon in the stand Q: immediate next step? \u003cPRED\u003eA: put spoon in the stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put spoon in the stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please clean up the spilled spoons on the table. last 20 steps: 1- put holder upright 2- put spoon in the stand 3- put spoon in the stand 4- put spoon in the stand 5- put spoon in the stand 6- put spoon in the stand 7- put spoon in the stand 8- put spoon in the stand 9- put spoon in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- put spoon in the stand 2- put spoon in the stand 3- put holder in middle of the table 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the orange in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput spoon in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put spoon in the stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please clean up the spilled spoons on the table Q: immediate next step? \u003cPRED\u003eA: put spoon in the stand\n\u003c/PRED\u003e","video":"14426733053377207289.mp4"}
+{"uid":"10047608455079577901","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the pears in the bowl Q: immediate next step? \u003cPRED\u003eA: put the pear in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the pear in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the pear in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the pears in the bowl. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put the pear in the bowl 2- drop pear in the bowl 3- put the pear in the bowl 4- drop the pear in the bowl 5- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the pears in the bowl. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put the pear in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pear in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the pear in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"227440553075816618.mp4"}
+{"uid":"16058587018987559991","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove arm downward Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10121065160741202399.mp4"}
+{"uid":"2223850213243595974","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pistachio in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9131953331732612420.mp4"}
+{"uid":"7097753296002757723","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the pears in the bowl Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the pear in bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the pear in bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the pears in the bowl. last 20 steps: 1- drop pear in the bowl 2- drop pear in the bowl 3- put the pear in the bowl 4- Put the pear in bowl Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the pears in the bowl. last 20 steps: 1- drop pear in the bowl 2- drop pear in the bowl 3- put the pear in the bowl 4- Put the pear in bowl Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"3762287180948563158.mp4"}
+{"uid":"5675992434876511412","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the pear in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the pears in the bowl Q: immediate next step? \u003cPRED\u003eA: drop the pear in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the pear in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the pears in the bowl. last 20 steps: 1- drop pear in the bowl 2- drop pear in the bowl Q: immediate next step? \u003cPRED\u003eA: drop the pear in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the pear in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the pears in the bowl. last 20 steps: 1- drop pear in the bowl 2- drop pear in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- drop the pear in the bowl 2- drop the pear in the bowl 3- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the pear in the bowl\n\u003c/PRED\u003e","video":"17009537598482905311.mp4"}
+{"uid":"10411193667893015803","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please clean up the spilled spoons on the table Q: immediate next step? \u003cPRED\u003eA: put spoon in the stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput spoon in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put spoon in the stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the candy in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put spoon in the stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please clean up the spilled spoons on the table. last 20 steps: 1- put holder upright 2- put spoon in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- put spoon in the stand 2- put spoon in the stand 3- put spoon in the stand 4- put spoon in the stand 5- put spoon in the stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please clean up the spilled spoons on the table. last 20 steps: 1- put holder upright 2- put spoon in the stand Q: immediate next step? \u003cPRED\u003eA: put spoon in the stand\n\u003c/PRED\u003e","video":"7268090283789727946.mp4"}
+{"uid":"3446324877962988819","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the pears in the bowl Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the pears in the bowl. last 20 steps: 1- drop pear in the bowl 2- drop pear in the bowl 3- put the pear in the bowl 4- drop the pear in the bowl Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the pears in the bowl. last 20 steps: 1- drop pear in the bowl 2- drop pear in the bowl 3- put the pear in the bowl 4- drop the pear in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the pear in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop the pear in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6116507097328009949.mp4"}
+{"uid":"17409886799239349160","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the numi golden chai in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16035746825681658003.mp4"}
+{"uid":"3967034236761093252","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the pears in the bowl. last 20 steps: 1- drop pear in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put the pear in bowl 2- put the pear in the bowl 3- drop the pear in the bowl 4- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the pears in the bowl Q: immediate next step? \u003cPRED\u003eA: Put the pear in bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the pear in bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the pear in bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the pears in the bowl. last 20 steps: 1- drop pear in the bowl Q: immediate next step? \u003cPRED\u003eA: Put the pear in bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the pear in bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7255624050951729749.mp4"}
+{"uid":"14438623651772546360","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the pear in bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the pear in bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5111285289181926819.mp4"}
+{"uid":"16228435466135450586","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the pears in the bowl. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Put the pear in bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the pears in the bowl Q: immediate next step? \u003cPRED\u003eA: Put the pear in bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the pear in bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the pear in bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the pears in the bowl. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Put the pear in bowl 2- put the pear in the bowl 3- drop the pear in the bowl 4- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the pear in bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the pear in bowl\n\u003c/PRED\u003e","video":"15202012278848588104.mp4"}
+{"uid":"5051221894185063627","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop the plastic glass on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11864893711410097245.mp4"}
+{"uid":"8436727167455498964","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick a pen Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2516467421944921419.mp4"}
+{"uid":"15589084062550772792","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove arm up Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7188729197654460031.mp4"}
+{"uid":"16401730096334409610","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the cup into the dust bin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13951410058347969651.mp4"}
+{"uid":"7495466764825102172","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please clean up the spilled spoons on the table. last 20 steps: 1- put holder upright 2- put spoon in the stand 3- put spoon in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- put spoon in the stand 2- put spoon in the stand 3- put spoon in the stand 4- put spoon in the stand 5- put spoon in the stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please clean up the spilled spoons on the table. last 20 steps: 1- put holder upright 2- put spoon in the stand 3- put spoon in the stand Q: immediate next step? \u003cPRED\u003eA: put spoon in the stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put spoon in the stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put spoon in the stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please clean up the spilled spoons on the table Q: immediate next step? \u003cPRED\u003eA: put spoon in the stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput spoon in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2476720753835582466.mp4"}
+{"uid":"6461208710877855948","text":"\u003ctask:success:discrete:True\u003e\nput the pear in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the pear in the bowl\n\u003c/PRED\u003e","video":"2689536776316352374.mp4"}
+{"uid":"5547331014032848601","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the pear in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the pear in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14420243905667416366.mp4"}
+{"uid":"14183746838989712033","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace a medium size sticky note inside the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17068308373932701486.mp4"}
+{"uid":"18017445246446106836","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the pears in the bowl. last 20 steps: 1- drop pear in the bowl 2- drop pear in the bowl 3- put the pear in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- drop the pear in the bowl 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the pears in the bowl. last 20 steps: 1- drop pear in the bowl 2- drop pear in the bowl 3- put the pear in the bowl Q: immediate next step? \u003cPRED\u003eA: drop the pear in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the pears in the bowl Q: immediate next step? \u003cPRED\u003eA: drop the pear in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the pear in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the pear in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the pear in the bowl\n\u003c/PRED\u003e","video":"1361288531198022242.mp4"}
+{"uid":"13122569833743224994","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the toy in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up the tape from the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11564010431331093822.mp4"}
+{"uid":"14751073474278312428","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop pear in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop pear in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1682570134385366723.mp4"}
+{"uid":"12168221102148054875","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the green packet in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7824466984737068638.mp4"}
+{"uid":"17638313277335251393","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put holder upright\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please clean up the spilled spoons on the table. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put holder upright 2- put spoon in the stand 3- put spoon in the stand 4- put spoon in the stand 5- put spoon in the stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put holder upright\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please clean up the spilled spoons on the table. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put holder upright\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput holder upright Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please clean up the spilled spoons on the table Q: immediate next step? \u003cPRED\u003eA: put holder upright\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput holder upright Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10398807336376482745.mp4"}
+{"uid":"18262994397473615018","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put spoon in the stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please clean up the spilled spoons on the table. last 20 steps: 1- put holder upright 2- put spoon in the stand 3- put spoon in the stand 4- put spoon in the stand 5- put spoon in the stand 6- put spoon in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- put spoon in the stand 2- put spoon in the stand 3- put spoon in the stand 4- put spoon in the stand 5- put spoon in the stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please clean up the spilled spoons on the table Q: immediate next step? \u003cPRED\u003eA: put spoon in the stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please clean up the spilled spoons on the table. last 20 steps: 1- put holder upright 2- put spoon in the stand 3- put spoon in the stand 4- put spoon in the stand 5- put spoon in the stand 6- put spoon in the stand Q: immediate next step? \u003cPRED\u003eA: put spoon in the stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put spoon in the stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput spoon in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"560863882750547253.mp4"}
+{"uid":"17969418648330977306","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please clean up the spilled spoons on the table Q: immediate next step? \u003cPRED\u003eA: put spoon in the stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput spoon in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please clean up the spilled spoons on the table. last 20 steps: 1- put holder upright 2- put spoon in the stand 3- put spoon in the stand 4- put spoon in the stand 5- put spoon in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- put spoon in the stand 2- put spoon in the stand 3- put spoon in the stand 4- put spoon in the stand 5- put spoon in the stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put spoon in the stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please clean up the spilled spoons on the table. last 20 steps: 1- put holder upright 2- put spoon in the stand 3- put spoon in the stand 4- put spoon in the stand 5- put spoon in the stand Q: immediate next step? \u003cPRED\u003eA: put spoon in the stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put spoon in the stand\n\u003c/PRED\u003e","video":"18195490021498743555.mp4"}
+{"uid":"13735953402548256899","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the blue chocolate in the right bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13211735578631345193.mp4"}
+{"uid":"6099791487301459155","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12575346143380165438.mp4"}
+{"uid":"9331373245185277945","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nGrasp the door of the oven Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11168427984052690355.mp4"}
+{"uid":"10452417615198843355","text":"\u003ctask:success:discrete:True\u003e\nexit the room Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: exit the room\n\u003c/PRED\u003e","video":"4841868913308493999.mp4"}
+{"uid":"15184611425670980932","text":"\u003ctask:success:discrete:True\u003e\nopen the fridge door Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: open the fridge door\n\u003c/PRED\u003e","video":"17570596813577274871.mp4"}
+{"uid":"2779512339167475098","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please clean up all the spilled snack on my table and place them into the bucket. last 20 steps: 1- Put the candy in the basket 2- Put the packet in the basket 3- Put the packet in the basket 4- Put the candy in the basket 5- Put the packet in the basket 6- Put the candy in the basket Q: immediate next step? \u003cPRED\u003eA: Put the packet in the basket\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the packet in the basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please clean up all the spilled snack on my table and place them into the bucket. last 20 steps: 1- Put the candy in the basket 2- Put the packet in the basket 3- Put the packet in the basket 4- Put the candy in the basket 5- Put the packet in the basket 6- Put the candy in the basket Q: next 5 steps? \u003cPRED\u003eA: 1- Put the packet in the basket 2- Put the packet in the basket 3- Put the packet in the basket 4- Put the candy in the basket 5- Put the packet in the basket\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the packet in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the packet in the basket\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please clean up all the spilled snack on my table and place them into the bucket Q: immediate next step? \u003cPRED\u003eA: Put the packet in the basket\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the packet in the basket\n\u003c/PRED\u003e","video":"7679608579258759101.mp4"}
+{"uid":"10584388729078726279","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace a candy in brown bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11974872238503336468.mp4"}
+{"uid":"9674460389856545193","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: adjust the pillow\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nadjust the pillow Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nadjust the pillow Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Open the conference room, turn on the light, rearrange the pillow, organize the whiteboard markers, then use the hanging towel to erase the whiteboard. last 20 steps: 1- open the door 2- turn on the switch Q: next 5 steps? \u003cPRED\u003eA: 1- adjust the pillow 2- place the marker right side 3- place the marker right side 4- place the marker right side 5- pick up cloth\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Open the conference room, turn on the light, rearrange the pillow, organize the whiteboard markers, then use the hanging towel to erase the whiteboard. last 20 steps: 1- open the door 2- turn on the switch Q: immediate next step? \u003cPRED\u003eA: adjust the pillow\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Open the conference room, turn on the light, rearrange the pillow, organize the whiteboard markers, then use the hanging towel to erase the whiteboard Q: immediate next step? \u003cPRED\u003eA: adjust the pillow\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: adjust the pillow\n\u003c/PRED\u003e","video":"8629048709630988521.mp4"}
+{"uid":"16583582789997372245","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput redbull can on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16855630847619470161.mp4"}
+{"uid":"15184828175007896223","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up the box on the floor Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6686309648496567878.mp4"}
+{"uid":"15573051857593256611","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the yellow packet on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7402447203230700409.mp4"}
+{"uid":"17812149394484567207","text":"\u003ctask:success:discrete:True\u003e\nplace the marker right side Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the marker right side\n\u003c/PRED\u003e","video":"11003870681664914468.mp4"}
+{"uid":"3612345207684754783","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please clean up all the spilled snack on my table and place them into the bucket Q: immediate next step? \u003cPRED\u003eA: Put the packet in the basket\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please clean up all the spilled snack on my table and place them into the bucket. last 20 steps: 1- Put the candy in the basket 2- Put the packet in the basket 3- Put the packet in the basket 4- Put the candy in the basket 5- Put the packet in the basket 6- Put the candy in the basket 7- Put the packet in the basket 8- Put the packet in the basket Q: next 5 steps? \u003cPRED\u003eA: 1- Put the packet in the basket 2- Put the candy in the basket 3- Put the packet in the basket 4- Put the packet in the basket 5- Put the candy in the basket\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the packet in the basket\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the green candy in right side bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please clean up all the spilled snack on my table and place them into the bucket. last 20 steps: 1- Put the candy in the basket 2- Put the packet in the basket 3- Put the packet in the basket 4- Put the candy in the basket 5- Put the packet in the basket 6- Put the candy in the basket 7- Put the packet in the basket 8- Put the packet in the basket Q: immediate next step? \u003cPRED\u003eA: Put the packet in the basket\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the packet in the basket\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the packet in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3593548012806855604.mp4"}
+{"uid":"3644918410582204084","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: hang the cloth to the hook\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nhang the cloth to the hook Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Open the conference room, turn on the light, rearrange the pillow, organize the whiteboard markers, then use the hanging towel to erase the whiteboard. last 20 steps: 1- open the door 2- turn on the switch 3- adjust the pillow 4- place the marker right side 5- place the marker right side 6- place the marker right side 7- pick up cloth 8- wipe the board 9- hang the cloth to the hook Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Open the conference room, turn on the light, rearrange the pillow, organize the whiteboard markers, then use the hanging towel to erase the whiteboard. last 20 steps: 1- open the door 2- turn on the switch 3- adjust the pillow 4- place the marker right side 5- place the marker right side 6- place the marker right side 7- pick up cloth 8- wipe the board 9- hang the cloth to the hook Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Open the conference room, turn on the light, rearrange the pillow, organize the whiteboard markers, then use the hanging towel to erase the whiteboard Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"15884575786431648157.mp4"}
+{"uid":"9971290643211992054","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3255384799950694803.mp4"}
+{"uid":"13892942477271435039","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove teh cups to left Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13572273225916851443.mp4"}
+{"uid":"13057948514048812857","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the candy in the basket\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please clean up all the spilled snack on my table and place them into the bucket. last 20 steps: 1- Put the candy in the basket 2- Put the packet in the basket 3- Put the packet in the basket 4- Put the candy in the basket 5- Put the packet in the basket 6- Put the candy in the basket 7- Put the packet in the basket 8- Put the packet in the basket 9- Put the packet in the basket 10- Put the candy in the basket 11- Put the packet in the basket 12- Put the packet in the basket Q: immediate next step? \u003cPRED\u003eA: Put the candy in the basket\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please clean up all the spilled snack on my table and place them into the bucket. last 20 steps: 1- Put the candy in the basket 2- Put the packet in the basket 3- Put the packet in the basket 4- Put the candy in the basket 5- Put the packet in the basket 6- Put the candy in the basket 7- Put the packet in the basket 8- Put the packet in the basket 9- Put the packet in the basket 10- Put the candy in the basket 11- Put the packet in the basket 12- Put the packet in the basket Q: next 5 steps? \u003cPRED\u003eA: 1- Put the candy in the basket 2- Put the chocolate in the basket 3- move the basket beside the dispenser 4- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the candy in the basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please clean up all the spilled snack on my table and place them into the bucket Q: immediate next step? \u003cPRED\u003eA: Put the candy in the basket\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the candy in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the candy in the basket\n\u003c/PRED\u003e","video":"4377981003274321768.mp4"}
+{"uid":"7777771355014605481","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput candy in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12739084812522594608.mp4"}
+{"uid":"741659427252008242","text":"\u003ctask:success:discrete:False\u003e\nPut the packet in the basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the packet in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:False\u003e\nput white packet in tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please clean up all the spilled snack on my table and place them into the bucket Q: immediate next step? \u003cPRED\u003eA: Put the packet in the basket\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please clean up all the spilled snack on my table and place them into the bucket. last 20 steps: 1- Put the candy in the basket 2- Put the packet in the basket 3- Put the packet in the basket 4- Put the candy in the basket 5- Put the packet in the basket 6- Put the candy in the basket 7- Put the packet in the basket 8- Put the packet in the basket 9- Put the packet in the basket 10- Put the candy in the basket Q: immediate next step? \u003cPRED\u003eA: Put the packet in the basket\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the packet in the basket\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please clean up all the spilled snack on my table and place them into the bucket. last 20 steps: 1- Put the candy in the basket 2- Put the packet in the basket 3- Put the packet in the basket 4- Put the candy in the basket 5- Put the packet in the basket 6- Put the candy in the basket 7- Put the packet in the basket 8- Put the packet in the basket 9- Put the packet in the basket 10- Put the candy in the basket Q: next 5 steps? \u003cPRED\u003eA: 1- Put the packet in the basket 2- Put the packet in the basket 3- Put the candy in the basket 4- Put the chocolate in the basket 5- move the basket beside the dispenser\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the packet in the basket\n\u003c/PRED\u003e","video":"17754071242115786536.mp4"}
+{"uid":"5634595021283311623","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16924316237046569587.mp4"}
+{"uid":"1586417380758825465","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Open the conference room, turn on the light, rearrange the pillow, organize the whiteboard markers, then use the hanging towel to erase the whiteboard Q: immediate next step? \u003cPRED\u003eA: place the marker right side\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Open the conference room, turn on the light, rearrange the pillow, organize the whiteboard markers, then use the hanging towel to erase the whiteboard. last 20 steps: 1- open the door 2- turn on the switch 3- adjust the pillow 4- place the marker right side 5- place the marker right side Q: next 5 steps? \u003cPRED\u003eA: 1- place the marker right side 2- pick up cloth 3- wipe the board 4- hang the cloth to the hook 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the marker right side Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Open the conference room, turn on the light, rearrange the pillow, organize the whiteboard markers, then use the hanging towel to erase the whiteboard. last 20 steps: 1- open the door 2- turn on the switch 3- adjust the pillow 4- place the marker right side 5- place the marker right side Q: immediate next step? \u003cPRED\u003eA: place the marker right side\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the marker right side\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the marker right side\n\u003c/PRED\u003e","video":"7067189259648735273.mp4"}
+{"uid":"4228528216284727699","text":"\u003ctask:success:discrete:True\u003e\nwipe the board Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: wipe the board\n\u003c/PRED\u003e","video":"10396848515994224282.mp4"}
+{"uid":"13001699533793846778","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you bring me a coke bottle from the MK?. last 20 steps: 1- open the fridge door 2- pick up the coke 3- exit the room 4- move to hallway 5- place the coke on the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the coke on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you bring me a coke bottle from the MK?. last 20 steps: 1- open the fridge door 2- pick up the coke 3- exit the room 4- move to hallway 5- place the coke on the table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the coke on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you bring me a coke bottle from the MK? Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"9702334969744350308.mp4"}
+{"uid":"18311979247580526690","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput packet on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15293809447111900181.mp4"}
+{"uid":"4270322193642332547","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the chocolate in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please clean up all the spilled snack on my table and place them into the bucket Q: immediate next step? \u003cPRED\u003eA: Put the chocolate in the basket\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please clean up all the spilled snack on my table and place them into the bucket. last 20 steps: 1- Put the candy in the basket 2- Put the packet in the basket 3- Put the packet in the basket 4- Put the candy in the basket 5- Put the packet in the basket 6- Put the candy in the basket 7- Put the packet in the basket 8- Put the packet in the basket 9- Put the packet in the basket 10- Put the candy in the basket 11- Put the packet in the basket 12- Put the packet in the basket 13- Put the candy in the basket Q: next 5 steps? \u003cPRED\u003eA: 1- Put the chocolate in the basket 2- move the basket beside the dispenser 3- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the chocolate in the basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the chocolate in the basket\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the chocolate in the basket\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please clean up all the spilled snack on my table and place them into the bucket. last 20 steps: 1- Put the candy in the basket 2- Put the packet in the basket 3- Put the packet in the basket 4- Put the candy in the basket 5- Put the packet in the basket 6- Put the candy in the basket 7- Put the packet in the basket 8- Put the packet in the basket 9- Put the packet in the basket 10- Put the candy in the basket 11- Put the packet in the basket 12- Put the packet in the basket 13- Put the candy in the basket Q: immediate next step? \u003cPRED\u003eA: Put the chocolate in the basket\n\u003c/PRED\u003e","video":"10730176223504143989.mp4"}
+{"uid":"16673911236890059323","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please clean up all the spilled snack on my table and place them into the bucket. last 20 steps: 1- Put the candy in the basket 2- Put the packet in the basket 3- Put the packet in the basket 4- Put the candy in the basket 5- Put the packet in the basket 6- Put the candy in the basket 7- Put the packet in the basket 8- Put the packet in the basket 9- Put the packet in the basket 10- Put the candy in the basket 11- Put the packet in the basket Q: immediate next step? \u003cPRED\u003eA: Put the packet in the basket\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please clean up all the spilled snack on my table and place them into the bucket Q: immediate next step? \u003cPRED\u003eA: Put the packet in the basket\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the packet in the basket\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please clean up all the spilled snack on my table and place them into the bucket. last 20 steps: 1- Put the candy in the basket 2- Put the packet in the basket 3- Put the packet in the basket 4- Put the candy in the basket 5- Put the packet in the basket 6- Put the candy in the basket 7- Put the packet in the basket 8- Put the packet in the basket 9- Put the packet in the basket 10- Put the candy in the basket 11- Put the packet in the basket Q: next 5 steps? \u003cPRED\u003eA: 1- Put the packet in the basket 2- Put the candy in the basket 3- Put the chocolate in the basket 4- move the basket beside the dispenser 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the packet in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the packet in the basket\n\u003c/PRED\u003e","video":"16623301475466435134.mp4"}
+{"uid":"3754270180702757310","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move the basket beside the dispenser\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove the basket beside the dispenser Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please clean up all the spilled snack on my table and place them into the bucket. last 20 steps: 1- Put the candy in the basket 2- Put the packet in the basket 3- Put the packet in the basket 4- Put the candy in the basket 5- Put the packet in the basket 6- Put the candy in the basket 7- Put the packet in the basket 8- Put the packet in the basket 9- Put the packet in the basket 10- Put the candy in the basket 11- Put the packet in the basket 12- Put the packet in the basket 13- Put the candy in the basket 14- Put the chocolate in the basket Q: next 5 steps? \u003cPRED\u003eA: 1- move the basket beside the dispenser 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move the basket beside the dispenser\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please clean up all the spilled snack on my table and place them into the bucket. last 20 steps: 1- Put the candy in the basket 2- Put the packet in the basket 3- Put the packet in the basket 4- Put the candy in the basket 5- Put the packet in the basket 6- Put the candy in the basket 7- Put the packet in the basket 8- Put the packet in the basket 9- Put the packet in the basket 10- Put the candy in the basket 11- Put the packet in the basket 12- Put the packet in the basket 13- Put the candy in the basket 14- Put the chocolate in the basket Q: immediate next step? \u003cPRED\u003eA: move the basket beside the dispenser\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove the basket beside the dispenser Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please clean up all the spilled snack on my table and place them into the bucket Q: immediate next step? \u003cPRED\u003eA: move the basket beside the dispenser\n\u003c/PRED\u003e","video":"7328867215123953070.mp4"}
+{"uid":"4583406566373112684","text":"\u003ctask:success:discrete:True\u003e\nmove to hallway Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move to hallway\n\u003c/PRED\u003e","video":"3470871940743370471.mp4"}
+{"uid":"9357415232805319837","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2603763002734980726.mp4"}
+{"uid":"16129257159778319285","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you bring me a coke bottle from the MK?. last 20 steps: 1- open the fridge door 2- pick up the coke Q: next 5 steps? \u003cPRED\u003eA: 1- exit the room 2- place the coke on the table 3- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nexit the room Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you bring me a coke bottle from the MK? Q: immediate next step? \u003cPRED\u003eA: exit the room\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: exit the room\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you bring me a coke bottle from the MK?. last 20 steps: 1- open the fridge door 2- pick up the coke Q: immediate next step? \u003cPRED\u003eA: exit the room\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nexit the room Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: exit the room\n\u003c/PRED\u003e","video":"13109503768420434833.mp4"}
+{"uid":"7795577763829220923","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Open the conference room, turn on the light, rearrange the pillow, organize the whiteboard markers, then use the hanging towel to erase the whiteboard. last 20 steps: 1- open the door 2- turn on the switch 3- adjust the pillow Q: next 5 steps? \u003cPRED\u003eA: 1- place the marker right side 2- place the marker right side 3- place the marker right side 4- pick up cloth 5- wipe the board\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Open the conference room, turn on the light, rearrange the pillow, organize the whiteboard markers, then use the hanging towel to erase the whiteboard Q: immediate next step? \u003cPRED\u003eA: place the marker right side\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the marker right side Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Open the conference room, turn on the light, rearrange the pillow, organize the whiteboard markers, then use the hanging towel to erase the whiteboard. last 20 steps: 1- open the door 2- turn on the switch 3- adjust the pillow Q: immediate next step? \u003cPRED\u003eA: place the marker right side\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the marker right side Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the marker right side\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the marker right side\n\u003c/PRED\u003e","video":"6363391559813996277.mp4"}
+{"uid":"18019744636517795052","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the marker right side Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Open the conference room, turn on the light, rearrange the pillow, organize the whiteboard markers, then use the hanging towel to erase the whiteboard. last 20 steps: 1- open the door 2- turn on the switch 3- adjust the pillow 4- place the marker right side Q: next 5 steps? \u003cPRED\u003eA: 1- place the marker right side 2- place the marker right side 3- pick up cloth 4- wipe the board 5- hang the cloth to the hook\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Open the conference room, turn on the light, rearrange the pillow, organize the whiteboard markers, then use the hanging towel to erase the whiteboard Q: immediate next step? \u003cPRED\u003eA: place the marker right side\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Open the conference room, turn on the light, rearrange the pillow, organize the whiteboard markers, then use the hanging towel to erase the whiteboard. last 20 steps: 1- open the door 2- turn on the switch 3- adjust the pillow 4- place the marker right side Q: immediate next step? \u003cPRED\u003eA: place the marker right side\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the marker right side\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the marker right side\n\u003c/PRED\u003e","video":"5444802100760840991.mp4"}
+{"uid":"2079990756052424348","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please clean up all the spilled snack on my table and place them into the bucket Q: immediate next step? \u003cPRED\u003eA: Put the candy in the basket\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please clean up all the spilled snack on my table and place them into the bucket. last 20 steps: 1- Put the candy in the basket 2- Put the packet in the basket 3- Put the packet in the basket 4- Put the candy in the basket 5- Put the packet in the basket Q: immediate next step? \u003cPRED\u003eA: Put the candy in the basket\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the candy in the basket\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the candy in the basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the candy in the basket\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please clean up all the spilled snack on my table and place them into the bucket. last 20 steps: 1- Put the candy in the basket 2- Put the packet in the basket 3- Put the packet in the basket 4- Put the candy in the basket 5- Put the packet in the basket Q: next 5 steps? \u003cPRED\u003eA: 1- Put the candy in the basket 2- Put the packet in the basket 3- Put the packet in the basket 4- Put the packet in the basket 5- Put the candy in the basket\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the candy in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18062742147135427687.mp4"}
+{"uid":"17754458644295535436","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the black pen in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"907137213001776788.mp4"}
+{"uid":"11891441402654752891","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nrelease the green cup on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11402793688277198548.mp4"}
+{"uid":"12794055881841664137","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please clean up all the spilled snack on my table and place them into the bucket Q: immediate next step? \u003cPRED\u003eA: Put the candy in the basket\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the candy in the basket\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the candy in the basket\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the candy in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please clean up all the spilled snack on my table and place them into the bucket. last 20 steps: 1- Put the candy in the basket 2- Put the packet in the basket 3- Put the packet in the basket 4- Put the candy in the basket 5- Put the packet in the basket 6- Put the candy in the basket 7- Put the packet in the basket 8- Put the packet in the basket 9- Put the packet in the basket Q: immediate next step? \u003cPRED\u003eA: Put the candy in the basket\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please clean up all the spilled snack on my table and place them into the bucket. last 20 steps: 1- Put the candy in the basket 2- Put the packet in the basket 3- Put the packet in the basket 4- Put the candy in the basket 5- Put the packet in the basket 6- Put the candy in the basket 7- Put the packet in the basket 8- Put the packet in the basket 9- Put the packet in the basket Q: next 5 steps? \u003cPRED\u003eA: 1- Put the candy in the basket 2- Put the packet in the basket 3- Put the packet in the basket 4- Put the candy in the basket 5- Put the chocolate in the basket\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the candy in the basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2093027164291039914.mp4"}
+{"uid":"8177316078555356087","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the packet in the basket\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please clean up all the spilled snack on my table and place them into the bucket. last 20 steps: 1- Put the candy in the basket Q: immediate next step? \u003cPRED\u003eA: Put the packet in the basket\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the packet in the basket\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the packet in the basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:False\u003e\nPut pink packet in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the packet in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please clean up all the spilled snack on my table and place them into the bucket Q: immediate next step? \u003cPRED\u003eA: Put the packet in the basket\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please clean up all the spilled snack on my table and place them into the bucket. last 20 steps: 1- Put the candy in the basket Q: next 5 steps? \u003cPRED\u003eA: 1- Put the packet in the basket 2- Put the packet in the basket 3- Put the candy in the basket 4- Put the packet in the basket 5- Put the candy in the basket\n\u003c/PRED\u003e","video":"15407352097791901894.mp4"}
+{"uid":"7960275312407998280","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: adjust the pillow\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nadjust the pillow Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16558909569806500745.mp4"}
+{"uid":"5508998174484796380","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the oatmeal pack in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18375884158843262315.mp4"}
+{"uid":"16708298208437058473","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the nut in plastic cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12255169214241691766.mp4"}
+{"uid":"2762207083877878292","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the coke on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you bring me a coke bottle from the MK? Q: immediate next step? \u003cPRED\u003eA: place the coke on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the coke on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the coke on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you bring me a coke bottle from the MK?. last 20 steps: 1- open the fridge door 2- pick up the coke 3- exit the room 4- move to hallway Q: next 5 steps? \u003cPRED\u003eA: 1- place the coke on the table 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the coke on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you bring me a coke bottle from the MK?. last 20 steps: 1- open the fridge door 2- pick up the coke 3- exit the room 4- move to hallway Q: immediate next step? \u003cPRED\u003eA: place the coke on the table\n\u003c/PRED\u003e","video":"18315105144795954751.mp4"}
+{"uid":"3624388452449106152","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please clean up all the spilled snack on my table and place them into the bucket. last 20 steps: 1- Put the candy in the basket 2- Put the packet in the basket 3- Put the packet in the basket 4- Put the candy in the basket Q: immediate next step? \u003cPRED\u003eA: Put the packet in the basket\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the packet in the basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please clean up all the spilled snack on my table and place them into the bucket. last 20 steps: 1- Put the candy in the basket 2- Put the packet in the basket 3- Put the packet in the basket 4- Put the candy in the basket Q: next 5 steps? \u003cPRED\u003eA: 1- Put the packet in the basket 2- Put the candy in the basket 3- Put the packet in the basket 4- Put the packet in the basket 5- Put the packet in the basket\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the packet in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the packet in the basket\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the packet in the basket\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please clean up all the spilled snack on my table and place them into the bucket Q: immediate next step? \u003cPRED\u003eA: Put the packet in the basket\n\u003c/PRED\u003e","video":"12296197585036650663.mp4"}
+{"uid":"18100693522385983417","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up cloth\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick up cloth Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15966733020666198635.mp4"}
+{"uid":"4673578781465967400","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the candy in the basket\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the candy in the basket\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the candy in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please clean up all the spilled snack on my table and place them into the bucket. last 20 steps: 1- Put the candy in the basket 2- Put the packet in the basket 3- Put the packet in the basket Q: next 5 steps? \u003cPRED\u003eA: 1- Put the candy in the basket 2- Put the packet in the basket 3- Put the candy in the basket 4- Put the packet in the basket 5- Put the packet in the basket\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please clean up all the spilled snack on my table and place them into the bucket Q: immediate next step? \u003cPRED\u003eA: Put the candy in the basket\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please clean up all the spilled snack on my table and place them into the bucket. last 20 steps: 1- Put the candy in the basket 2- Put the packet in the basket 3- Put the packet in the basket Q: immediate next step? \u003cPRED\u003eA: Put the candy in the basket\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the candy in the basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13761869506692867493.mp4"}
+{"uid":"8027554412502314355","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Open the conference room, turn on the light, rearrange the pillow, organize the whiteboard markers, then use the hanging towel to erase the whiteboard. last 20 steps: 1- open the door Q: next 5 steps? \u003cPRED\u003eA: 1- turn on the switch 2- adjust the pillow 3- place the marker right side 4- place the marker right side 5- place the marker right side\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nturn on the switch Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nturn on the switch Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: turn on the switch\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Open the conference room, turn on the light, rearrange the pillow, organize the whiteboard markers, then use the hanging towel to erase the whiteboard. last 20 steps: 1- open the door Q: immediate next step? \u003cPRED\u003eA: turn on the switch\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: turn on the switch\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Open the conference room, turn on the light, rearrange the pillow, organize the whiteboard markers, then use the hanging towel to erase the whiteboard Q: immediate next step? \u003cPRED\u003eA: turn on the switch\n\u003c/PRED\u003e","video":"6746105984441184252.mp4"}
+{"uid":"7025236133721059502","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open the fridge door\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open the fridge door\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you bring me a coke bottle from the MK?. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- open the fridge door 2- pick up the coke 3- exit the room 4- move to hallway 5- place the coke on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you bring me a coke bottle from the MK? Q: immediate next step? \u003cPRED\u003eA: open the fridge door\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you bring me a coke bottle from the MK?. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: open the fridge door\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nopen the fridge door Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nopen the fridge door Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15794714809714911372.mp4"}
+{"uid":"4704528984790853773","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop the brown packet in the trash Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18266116062738127659.mp4"}
+{"uid":"9651940899836932125","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Open the conference room, turn on the light, rearrange the pillow, organize the whiteboard markers, then use the hanging towel to erase the whiteboard. last 20 steps: 1- open the door 2- turn on the switch 3- adjust the pillow 4- place the marker right side 5- place the marker right side 6- place the marker right side 7- pick up cloth 8- wipe the board Q: immediate next step? \u003cPRED\u003eA: hang the cloth to the hook\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Open the conference room, turn on the light, rearrange the pillow, organize the whiteboard markers, then use the hanging towel to erase the whiteboard Q: immediate next step? \u003cPRED\u003eA: hang the cloth to the hook\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: hang the cloth to the hook\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nhang the cloth to the hook Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Open the conference room, turn on the light, rearrange the pillow, organize the whiteboard markers, then use the hanging towel to erase the whiteboard. last 20 steps: 1- open the door 2- turn on the switch 3- adjust the pillow 4- place the marker right side 5- place the marker right side 6- place the marker right side 7- pick up cloth 8- wipe the board Q: next 5 steps? \u003cPRED\u003eA: 1- hang the cloth to the hook 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: hang the cloth to the hook\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nhang the cloth to the hook Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3390173667548841861.mp4"}
+{"uid":"4563484980960491091","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the packet in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please clean up all the spilled snack on my table and place them into the bucket. last 20 steps: 1- Put the candy in the basket 2- Put the packet in the basket Q: next 5 steps? \u003cPRED\u003eA: 1- Put the packet in the basket 2- Put the candy in the basket 3- Put the packet in the basket 4- Put the candy in the basket 5- Put the packet in the basket\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the packet in the basket\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please clean up all the spilled snack on my table and place them into the bucket Q: immediate next step? \u003cPRED\u003eA: Put the packet in the basket\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the packet in the basket\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please clean up all the spilled snack on my table and place them into the bucket. last 20 steps: 1- Put the candy in the basket 2- Put the packet in the basket Q: immediate next step? \u003cPRED\u003eA: Put the packet in the basket\n\u003c/PRED\u003e","video":"12834698546416450844.mp4"}
+{"uid":"4853052024145510253","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput pistachio in right cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17378762705750154372.mp4"}
+{"uid":"13041159216176733330","text":"\u003ctask:success:discrete:True\u003e\npick up the coke Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up the coke\n\u003c/PRED\u003e","video":"8530874768611419273.mp4"}
+{"uid":"2507359053007329845","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up the green bag Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7427019533686445934.mp4"}
+{"uid":"2761416253430958661","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you bring me a coke bottle from the MK?. last 20 steps: 1- open the fridge door Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the coke 2- exit the room 3- move to hallway 4- place the coke on the table 5- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you bring me a coke bottle from the MK?. last 20 steps: 1- open the fridge door Q: immediate next step? \u003cPRED\u003eA: pick up the coke\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the coke Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you bring me a coke bottle from the MK? Q: immediate next step? \u003cPRED\u003eA: pick up the coke\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the coke\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the coke Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the coke\n\u003c/PRED\u003e","video":"17998852167997394594.mp4"}
+{"uid":"16175679189225295619","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the pink candy in white tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17712348974915220365.mp4"}
+{"uid":"15711186881822181284","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up the top right sliver object Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1678339476587293399.mp4"}
+{"uid":"16023599633166206111","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: open the door\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nopen the door Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14713708416583585379.mp4"}
+{"uid":"9680859918691997580","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nhold the chair. Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6766782306631621470.mp4"}
+{"uid":"10782270457115256757","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nmove to hallway Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move to hallway\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move to hallway\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you bring me a coke bottle from the MK?. last 20 steps: 1- open the fridge door 2- pick up the coke Q: next 5 steps? \u003cPRED\u003eA: 1- move to hallway 2- place the coke on the table 3- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove to hallway Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you bring me a coke bottle from the MK?. last 20 steps: 1- open the fridge door 2- pick up the coke Q: immediate next step? \u003cPRED\u003eA: move to hallway\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you bring me a coke bottle from the MK? Q: immediate next step? \u003cPRED\u003eA: move to hallway\n\u003c/PRED\u003e","video":"11891090170845901767.mp4"}
+{"uid":"6813130319580053242","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up cloth\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Open the conference room, turn on the light, rearrange the pillow, organize the whiteboard markers, then use the hanging towel to erase the whiteboard Q: immediate next step? \u003cPRED\u003eA: pick up cloth\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up cloth Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Open the conference room, turn on the light, rearrange the pillow, organize the whiteboard markers, then use the hanging towel to erase the whiteboard. last 20 steps: 1- open the door 2- turn on the switch 3- adjust the pillow 4- place the marker right side 5- place the marker right side 6- place the marker right side Q: next 5 steps? \u003cPRED\u003eA: 1- pick up cloth 2- wipe the board 3- hang the cloth to the hook 4- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up cloth\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up cloth Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Open the conference room, turn on the light, rearrange the pillow, organize the whiteboard markers, then use the hanging towel to erase the whiteboard. last 20 steps: 1- open the door 2- turn on the switch 3- adjust the pillow 4- place the marker right side 5- place the marker right side 6- place the marker right side Q: immediate next step? \u003cPRED\u003eA: pick up cloth\n\u003c/PRED\u003e","video":"4770153738875622072.mp4"}
+{"uid":"4244659245085528428","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nLift the tissue box from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7745288917150133349.mp4"}
+{"uid":"828782533018183654","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput orange pen in pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1351846497981534105.mp4"}
+{"uid":"1806785269911187819","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the can in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1958163591370400911.mp4"}
+{"uid":"16327556246877291721","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the paper on the black table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9030975876489925853.mp4"}
+{"uid":"12502946643257547571","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the candy in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2031656702915598730.mp4"}
+{"uid":"18310790235981833260","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the candy in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the candy in the basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please clean up all the spilled snack on my table and place them into the bucket. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Put the candy in the basket 2- Put the packet in the basket 3- Put the packet in the basket 4- Put the candy in the basket 5- Put the packet in the basket\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please clean up all the spilled snack on my table and place them into the bucket. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Put the candy in the basket\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please clean up all the spilled snack on my table and place them into the bucket Q: immediate next step? \u003cPRED\u003eA: Put the candy in the basket\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the candy in the basket\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the candy in the basket\n\u003c/PRED\u003e","video":"12086241656115849386.mp4"}
+{"uid":"9637883865915611497","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nwipe the board Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: wipe the board\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nwipe the board Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Open the conference room, turn on the light, rearrange the pillow, organize the whiteboard markers, then use the hanging towel to erase the whiteboard Q: immediate next step? \u003cPRED\u003eA: wipe the board\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: wipe the board\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Open the conference room, turn on the light, rearrange the pillow, organize the whiteboard markers, then use the hanging towel to erase the whiteboard. last 20 steps: 1- open the door 2- turn on the switch 3- adjust the pillow 4- place the marker right side 5- place the marker right side 6- place the marker right side 7- pick up cloth Q: next 5 steps? \u003cPRED\u003eA: 1- wipe the board 2- hang the cloth to the hook 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Open the conference room, turn on the light, rearrange the pillow, organize the whiteboard markers, then use the hanging towel to erase the whiteboard. last 20 steps: 1- open the door 2- turn on the switch 3- adjust the pillow 4- place the marker right side 5- place the marker right side 6- place the marker right side 7- pick up cloth Q: immediate next step? \u003cPRED\u003eA: wipe the board\n\u003c/PRED\u003e","video":"4419129630086428670.mp4"}
+{"uid":"9595826275068693849","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please clean up all the spilled snack on my table and place them into the bucket. last 20 steps: 1- Put the candy in the basket 2- Put the packet in the basket 3- Put the packet in the basket 4- Put the candy in the basket 5- Put the packet in the basket 6- Put the candy in the basket 7- Put the packet in the basket Q: immediate next step? \u003cPRED\u003eA: Put the packet in the basket\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the packet in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please clean up all the spilled snack on my table and place them into the bucket Q: immediate next step? \u003cPRED\u003eA: Put the packet in the basket\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please clean up all the spilled snack on my table and place them into the bucket. last 20 steps: 1- Put the candy in the basket 2- Put the packet in the basket 3- Put the packet in the basket 4- Put the candy in the basket 5- Put the packet in the basket 6- Put the candy in the basket 7- Put the packet in the basket Q: next 5 steps? \u003cPRED\u003eA: 1- Put the packet in the basket 2- Put the packet in the basket 3- Put the candy in the basket 4- Put the packet in the basket 5- Put the packet in the basket\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the packet in the basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the packet in the basket\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the packet in the basket\n\u003c/PRED\u003e","video":"2955612228760409982.mp4"}
+{"uid":"10582863338233650558","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup. last 20 steps: 1- put the white packet in the glass jar 2- drop pen in pen holder 3- put the blue packet in the glass jar 4- drop pen in pen holder 5- put the gold colour pen in the pen holder 6- drop packet in a jar 7- put the white packet in the glass jar 8- put the white packet in the glass jar 9- drop pen in a pen holder Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop pen in a pen holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup. last 20 steps: 1- put the white packet in the glass jar 2- drop pen in pen holder 3- put the blue packet in the glass jar 4- drop pen in pen holder 5- put the gold colour pen in the pen holder 6- drop packet in a jar 7- put the white packet in the glass jar 8- put the white packet in the glass jar 9- drop pen in a pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop pen in a pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14576455563408808175.mp4"}
+{"uid":"5681677411094546670","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nopen the grippers Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10920221770109519055.mp4"}
+{"uid":"13298256824170378130","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the white packet in the glass jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the white packet in the glass jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put the white packet in the glass jar 2- drop pen in pen holder 3- put the blue packet in the glass jar 4- drop pen in pen holder 5- put the gold colour pen in the pen holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put the white packet in the glass jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup Q: immediate next step? \u003cPRED\u003eA: put the white packet in the glass jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the white packet in the glass jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the white packet in the glass jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2543872754160015782.mp4"}
+{"uid":"471262355261332949","text":"\u003ctask:success:discrete:False\u003e\nput the blue pen in the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup. last 20 steps: 1- put the white packet in the glass jar 2- drop pen in pen holder 3- put the blue packet in the glass jar Q: immediate next step? \u003cPRED\u003eA: put the blue pen in the pen holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the blue pen in the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the blue pen in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup Q: immediate next step? \u003cPRED\u003eA: put the blue pen in the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the blue pen in the pen holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup. last 20 steps: 1- put the white packet in the glass jar 2- drop pen in pen holder 3- put the blue packet in the glass jar Q: next 5 steps? \u003cPRED\u003eA: 1- put the blue pen in the pen holder 2- put the gold colour pen in the pen holder 3- drop packet in a jar 4- put the white packet in the glass jar 5- put the white packet in the glass jar\n\u003c/PRED\u003e","video":"15414947766293740378.mp4"}
+{"uid":"5259490468431157972","text":"\u003ctask:success:discrete:True\u003e\nput blue pen in holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put blue pen in holder\n\u003c/PRED\u003e","video":"8600420376578407041.mp4"}
+{"uid":"10554867279166271483","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut yellow ball in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16063056149170050514.mp4"}
+{"uid":"12383456960948855645","text":"\u003ctask:success:discrete:True\u003e\ndrop pen in pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop pen in pen holder\n\u003c/PRED\u003e","video":"5091961775935890062.mp4"}
+{"uid":"9357764290379090689","text":"\u003ctask:success:discrete:True\u003e\ndrop packet in a jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop packet in a jar\n\u003c/PRED\u003e","video":"7149215457016496379.mp4"}
+{"uid":"3842059117962818564","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nArrange the floor mop Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5036485718406515900.mp4"}
+{"uid":"12813260021606394780","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the blue marker into the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15222080300135502035.mp4"}
+{"uid":"2403323378739802328","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop packet in a jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop packet in a jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup. last 20 steps: 1- put the white packet in the glass jar 2- drop pen in pen holder 3- put the blue packet in the glass jar 4- drop pen in pen holder 5- put the gold colour pen in the pen holder 6- drop packet in a jar Q: immediate next step? \u003cPRED\u003eA: drop packet in a jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup. last 20 steps: 1- put the white packet in the glass jar 2- drop pen in pen holder 3- put the blue packet in the glass jar 4- drop pen in pen holder 5- put the gold colour pen in the pen holder 6- drop packet in a jar Q: next 5 steps? \u003cPRED\u003eA: 1- drop packet in a jar 2- put the white packet in the glass jar 3- put the black pen in the pen holder 4- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop packet in a jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup Q: immediate next step? \u003cPRED\u003eA: drop packet in a jar\n\u003c/PRED\u003e","video":"5479292742830477908.mp4"}
+{"uid":"600952972576611103","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput apple in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2110224261349878420.mp4"}
+{"uid":"7785611171166587084","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup. last 20 steps: 1- put the white packet in the glass jar 2- drop pen in pen holder 3- put the blue packet in the glass jar 4- drop pen in pen holder 5- put the gold colour pen in the pen holder 6- drop packet in a jar Q: immediate next step? \u003cPRED\u003eA: put white packet in glass jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put white packet in glass jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput white packet in glass jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup Q: immediate next step? \u003cPRED\u003eA: put white packet in glass jar\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put white packet in glass jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup. last 20 steps: 1- put the white packet in the glass jar 2- drop pen in pen holder 3- put the blue packet in the glass jar 4- drop pen in pen holder 5- put the gold colour pen in the pen holder 6- drop packet in a jar Q: next 5 steps? \u003cPRED\u003eA: 1- put white packet in glass jar 2- put the white packet in the glass jar 3- put the black pen in the pen holder 4- done\n\u003c/PRED\u003e","video":"13437744088395171873.mp4"}
+{"uid":"16849077500242930349","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11862390925985699111.mp4"}
+{"uid":"8525826567820797869","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the orange into the white bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"20341241208344832.mp4"}
+{"uid":"572034808408832986","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pen into the rolling trolley tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15835966430023313801.mp4"}
+{"uid":"9596416933838716600","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup. last 20 steps: 1- put the white packet in the glass jar 2- drop pen in pen holder 3- put the blue packet in the glass jar 4- drop pen in pen holder 5- put the gold colour pen in the pen holder 6- drop packet in a jar 7- put the white packet in the glass jar Q: immediate next step? \u003cPRED\u003eA: put white packet in glass jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup Q: immediate next step? \u003cPRED\u003eA: put white packet in glass jar\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put white packet in glass jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup. last 20 steps: 1- put the white packet in the glass jar 2- drop pen in pen holder 3- put the blue packet in the glass jar 4- drop pen in pen holder 5- put the gold colour pen in the pen holder 6- drop packet in a jar 7- put the white packet in the glass jar Q: next 5 steps? \u003cPRED\u003eA: 1- put white packet in glass jar 2- put the black pen in the pen holder 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put white packet in glass jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput white packet in glass jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput white packet in glass jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8382589376274232199.mp4"}
+{"uid":"1678720625052726619","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace oreo in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7086675909024500638.mp4"}
+{"uid":"18190565582965169620","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup. last 20 steps: 1- put the white packet in the glass jar 2- drop pen in pen holder 3- put the blue packet in the glass jar 4- drop pen in pen holder 5- put the gold colour pen in the pen holder 6- drop packet in a jar 7- put the white packet in the glass jar 8- put the white packet in the glass jar Q: immediate next step? \u003cPRED\u003eA: drop pen in a pen holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop pen in a pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop pen in a pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup. last 20 steps: 1- put the white packet in the glass jar 2- drop pen in pen holder 3- put the blue packet in the glass jar 4- drop pen in pen holder 5- put the gold colour pen in the pen holder 6- drop packet in a jar 7- put the white packet in the glass jar 8- put the white packet in the glass jar Q: next 5 steps? \u003cPRED\u003eA: 1- drop pen in a pen holder 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop pen in a pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup Q: immediate next step? \u003cPRED\u003eA: drop pen in a pen holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop pen in a pen holder\n\u003c/PRED\u003e","video":"8621512641161821882.mp4"}
+{"uid":"11660920001326742932","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup Q: immediate next step? \u003cPRED\u003eA: put blue packet in glass jar\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup. last 20 steps: 1- put the white packet in the glass jar 2- drop pen in pen holder Q: immediate next step? \u003cPRED\u003eA: put blue packet in glass jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put blue packet in glass jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput blue packet in glass jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put blue packet in glass jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput blue packet in glass jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup. last 20 steps: 1- put the white packet in the glass jar 2- drop pen in pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- put blue packet in glass jar 2- drop pen in pen holder 3- put the gold colour pen in the pen holder 4- drop packet in a jar 5- put the white packet in the glass jar\n\u003c/PRED\u003e","video":"12382740999644137090.mp4"}
+{"uid":"5856072542504320341","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put white packet in glass jar 2- drop pen in pen holder 3- put the blue packet in the glass jar 4- drop pen in pen holder 5- put the gold colour pen in the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput white packet in glass jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put white packet in glass jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup Q: immediate next step? \u003cPRED\u003eA: put white packet in glass jar\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put white packet in glass jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put white packet in glass jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput white packet in glass jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14846844673072790782.mp4"}
+{"uid":"9859236727704522965","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put white packet in glass jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put white packet in glass jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput white packet in glass jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup. last 20 steps: 1- put the white packet in the glass jar 2- drop pen in pen holder 3- put the blue packet in the glass jar 4- drop pen in pen holder 5- put the gold colour pen in the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- put white packet in glass jar 2- put the white packet in the glass jar 3- put the white packet in the glass jar 4- put the black pen in the pen holder 5- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup Q: immediate next step? \u003cPRED\u003eA: put white packet in glass jar\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup. last 20 steps: 1- put the white packet in the glass jar 2- drop pen in pen holder 3- put the blue packet in the glass jar 4- drop pen in pen holder 5- put the gold colour pen in the pen holder Q: immediate next step? \u003cPRED\u003eA: put white packet in glass jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput white packet in glass jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1333282539461924580.mp4"}
+{"uid":"5950622517522656358","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the orange candy in a box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3493154411724784561.mp4"}
+{"uid":"8980690084003270146","text":"\u003ctask:success:discrete:True\u003e\ndrop a small packet in a jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop a small packet in a jar\n\u003c/PRED\u003e","video":"2157219669920690096.mp4"}
+{"uid":"3486951050114507994","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the blue pen in the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the blue pen in the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2474815149592548058.mp4"}
+{"uid":"5068396238240922405","text":"\u003ctask:success:discrete:True\u003e\nput white packet in glass jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put white packet in glass jar\n\u003c/PRED\u003e","video":"17314782464339432843.mp4"}
+{"uid":"12618094497585389690","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the white packet in the glass jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the white packet in the glass jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the white packet in the glass jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup Q: immediate next step? \u003cPRED\u003eA: put the white packet in the glass jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup. last 20 steps: 1- put the white packet in the glass jar 2- drop pen in pen holder 3- put the blue packet in the glass jar 4- drop pen in pen holder 5- put the gold colour pen in the pen holder 6- drop packet in a jar Q: next 5 steps? \u003cPRED\u003eA: 1- put the white packet in the glass jar 2- put the white packet in the glass jar 3- put the black pen in the pen holder 4- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the white packet in the glass jar\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup. last 20 steps: 1- put the white packet in the glass jar 2- drop pen in pen holder 3- put the blue packet in the glass jar 4- drop pen in pen holder 5- put the gold colour pen in the pen holder 6- drop packet in a jar Q: immediate next step? \u003cPRED\u003eA: put the white packet in the glass jar\n\u003c/PRED\u003e","video":"2155384913209878163.mp4"}
+{"uid":"3700194789896651899","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput a orange pen in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8307276148330469021.mp4"}
+{"uid":"6577787215643014772","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace snacks packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14382237266804600930.mp4"}
+{"uid":"9887982144032934024","text":"\u003ctask:success:discrete:False\u003e\ndrop packet in a jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup. last 20 steps: 1- put the white packet in the glass jar 2- drop pen in pen holder 3- put the blue packet in the glass jar 4- drop pen in pen holder 5- put the gold colour pen in the pen holder 6- drop packet in a jar 7- put the white packet in the glass jar Q: next 5 steps? \u003cPRED\u003eA: 1- drop packet in a jar 2- put the black pen in the pen holder 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup. last 20 steps: 1- put the white packet in the glass jar 2- drop pen in pen holder 3- put the blue packet in the glass jar 4- drop pen in pen holder 5- put the gold colour pen in the pen holder 6- drop packet in a jar 7- put the white packet in the glass jar Q: immediate next step? \u003cPRED\u003eA: drop packet in a jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup Q: immediate next step? \u003cPRED\u003eA: drop packet in a jar\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop packet in a jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop packet in a jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop packet in a jar\n\u003c/PRED\u003e","video":"2069404767066939892.mp4"}
+{"uid":"14946883776146085439","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup. last 20 steps: 1- put the white packet in the glass jar 2- drop pen in pen holder 3- put the blue packet in the glass jar 4- drop pen in pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- put the gold colour pen in the pen holder 2- drop packet in a jar 3- put the white packet in the glass jar 4- put the white packet in the glass jar 5- put the black pen in the pen holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the gold colour pen in the pen holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup. last 20 steps: 1- put the white packet in the glass jar 2- drop pen in pen holder 3- put the blue packet in the glass jar 4- drop pen in pen holder Q: immediate next step? \u003cPRED\u003eA: put the gold colour pen in the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the gold colour pen in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the gold colour pen in the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the gold colour pen in the pen holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup Q: immediate next step? \u003cPRED\u003eA: put the gold colour pen in the pen holder\n\u003c/PRED\u003e","video":"11036941849184594023.mp4"}
+{"uid":"10697405433787907869","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the green rolling bin on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5050491964118390458.mp4"}
+{"uid":"9276787256849757430","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the candy in the white tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1852632585315536674.mp4"}
+{"uid":"5995154733575274532","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup. last 20 steps: 1- put the white packet in the glass jar Q: next 5 steps? \u003cPRED\u003eA: 1- drop pen in pen holder 2- put the blue packet in the glass jar 3- drop pen in pen holder 4- put the gold colour pen in the pen holder 5- drop packet in a jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop pen in pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup Q: immediate next step? \u003cPRED\u003eA: drop pen in pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop pen in pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop pen in pen holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop pen in pen holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup. last 20 steps: 1- put the white packet in the glass jar Q: immediate next step? \u003cPRED\u003eA: drop pen in pen holder\n\u003c/PRED\u003e","video":"8514645406053611943.mp4"}
+{"uid":"4871655235099695354","text":"\u003ctask:success:discrete:False\u003e\nput the black pen in the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup. last 20 steps: 1- put the white packet in the glass jar 2- drop pen in pen holder 3- put the blue packet in the glass jar 4- drop pen in pen holder 5- put the gold colour pen in the pen holder 6- drop packet in a jar 7- put the white packet in the glass jar 8- put the white packet in the glass jar Q: next 5 steps? \u003cPRED\u003eA: 1- put the black pen in the pen holder 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the black pen in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup. last 20 steps: 1- put the white packet in the glass jar 2- drop pen in pen holder 3- put the blue packet in the glass jar 4- drop pen in pen holder 5- put the gold colour pen in the pen holder 6- drop packet in a jar 7- put the white packet in the glass jar 8- put the white packet in the glass jar Q: immediate next step? \u003cPRED\u003eA: put the black pen in the pen holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the black pen in the pen holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup Q: immediate next step? \u003cPRED\u003eA: put the black pen in the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the black pen in the pen holder\n\u003c/PRED\u003e","video":"9477653945407106811.mp4"}
+{"uid":"3854579187689713985","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the bunch of grapes in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8079684341426220921.mp4"}
+{"uid":"3150673226903666643","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nthrow the cups in the trash bin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7308936572101782436.mp4"}
+{"uid":"15258345394993442604","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the white packet in the glass jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the white packet in the glass jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the white packet in the glass jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup. last 20 steps: 1- put the white packet in the glass jar 2- drop pen in pen holder 3- put the blue packet in the glass jar 4- drop pen in pen holder 5- put the gold colour pen in the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- put the white packet in the glass jar 2- put the white packet in the glass jar 3- put the white packet in the glass jar 4- put the black pen in the pen holder 5- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup. last 20 steps: 1- put the white packet in the glass jar 2- drop pen in pen holder 3- put the blue packet in the glass jar 4- drop pen in pen holder 5- put the gold colour pen in the pen holder Q: immediate next step? \u003cPRED\u003eA: put the white packet in the glass jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup Q: immediate next step? \u003cPRED\u003eA: put the white packet in the glass jar\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the white packet in the glass jar\n\u003c/PRED\u003e","video":"14114473241146262735.mp4"}
+{"uid":"5756450658260986762","text":"\u003ctask:success:discrete:True\u003e\ndrop packet in a jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop packet in a jar\n\u003c/PRED\u003e","video":"17281843987824890844.mp4"}
+{"uid":"3169440067994160039","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nkeep pistachio in glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9674526281544562961.mp4"}
+{"uid":"13508170438434252413","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop packet in a jar\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop packet in a jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11875546443611088436.mp4"}
+{"uid":"16230737056131518786","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup. last 20 steps: 1- put the white packet in the glass jar 2- drop pen in pen holder 3- put the blue packet in the glass jar Q: immediate next step? \u003cPRED\u003eA: drop pen in pen holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop pen in pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop pen in pen holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup Q: immediate next step? \u003cPRED\u003eA: drop pen in pen holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop pen in pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop pen in pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup. last 20 steps: 1- put the white packet in the glass jar 2- drop pen in pen holder 3- put the blue packet in the glass jar Q: next 5 steps? \u003cPRED\u003eA: 1- drop pen in pen holder 2- put the gold colour pen in the pen holder 3- drop packet in a jar 4- put the white packet in the glass jar 5- put the white packet in the glass jar\n\u003c/PRED\u003e","video":"10666566777760248365.mp4"}
+{"uid":"7098459042157254064","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the pistas in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18268213338959112300.mp4"}
+{"uid":"2002727177943718108","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup. last 20 steps: 1- put the white packet in the glass jar 2- drop pen in pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- drop a small packet in a jar 2- drop pen in pen holder 3- put the gold colour pen in the pen holder 4- drop packet in a jar 5- put the white packet in the glass jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop a small packet in a jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup Q: immediate next step? \u003cPRED\u003eA: drop a small packet in a jar\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop a small packet in a jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop a small packet in a jar\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup. last 20 steps: 1- put the white packet in the glass jar 2- drop pen in pen holder Q: immediate next step? \u003cPRED\u003eA: drop a small packet in a jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop a small packet in a jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9123734211493429135.mp4"}
+{"uid":"4296256028715613733","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup. last 20 steps: 1- put the white packet in the glass jar 2- drop pen in pen holder 3- put the blue packet in the glass jar 4- drop pen in pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- put pen in holder 2- drop packet in a jar 3- put the white packet in the glass jar 4- put the white packet in the glass jar 5- put the black pen in the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput pen in holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put pen in holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup. last 20 steps: 1- put the white packet in the glass jar 2- drop pen in pen holder 3- put the blue packet in the glass jar 4- drop pen in pen holder Q: immediate next step? \u003cPRED\u003eA: put pen in holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put pen in holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput pen in holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup Q: immediate next step? \u003cPRED\u003eA: put pen in holder\n\u003c/PRED\u003e","video":"1816027233482340515.mp4"}
+{"uid":"2357469790585526296","text":"\u003ctask:success:discrete:True\u003e\nput the black pen in the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup. last 20 steps: 1- put the white packet in the glass jar 2- drop pen in pen holder 3- put the blue packet in the glass jar 4- drop pen in pen holder 5- put the gold colour pen in the pen holder 6- drop packet in a jar 7- put the white packet in the glass jar 8- put the white packet in the glass jar 9- put the black pen in the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the black pen in the pen holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup. last 20 steps: 1- put the white packet in the glass jar 2- drop pen in pen holder 3- put the blue packet in the glass jar 4- drop pen in pen holder 5- put the gold colour pen in the pen holder 6- drop packet in a jar 7- put the white packet in the glass jar 8- put the white packet in the glass jar 9- put the black pen in the pen holder Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"5498332416680074189.mp4"}
+{"uid":"14287559642122961884","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the white packet in the glass jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup Q: immediate next step? \u003cPRED\u003eA: put the white packet in the glass jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup. last 20 steps: 1- put the white packet in the glass jar 2- drop pen in pen holder 3- put the blue packet in the glass jar 4- drop pen in pen holder 5- put the gold colour pen in the pen holder 6- drop packet in a jar 7- put the white packet in the glass jar Q: next 5 steps? \u003cPRED\u003eA: 1- put the white packet in the glass jar 2- put the black pen in the pen holder 3- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the white packet in the glass jar\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup. last 20 steps: 1- put the white packet in the glass jar 2- drop pen in pen holder 3- put the blue packet in the glass jar 4- drop pen in pen holder 5- put the gold colour pen in the pen holder 6- drop packet in a jar 7- put the white packet in the glass jar Q: immediate next step? \u003cPRED\u003eA: put the white packet in the glass jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the white packet in the glass jar\n\u003c/PRED\u003e","video":"13325711331229589927.mp4"}
+{"uid":"1411431891610887539","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop packet in a jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- drop packet in a jar 2- drop pen in pen holder 3- put the blue packet in the glass jar 4- drop pen in pen holder 5- put the gold colour pen in the pen holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup Q: immediate next step? \u003cPRED\u003eA: drop packet in a jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop packet in a jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop packet in a jar\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: drop packet in a jar\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop packet in a jar\n\u003c/PRED\u003e","video":"11075710200609858560.mp4"}
+{"uid":"11278022865165965311","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop pen in pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop pen in pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8299006588922253823.mp4"}
+{"uid":"16563259074190030730","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the red pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2189788820433452338.mp4"}
+{"uid":"1828202845584252377","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the apple in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7251129338485192043.mp4"}
+{"uid":"16302114099206894309","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup Q: immediate next step? \u003cPRED\u003eA: drop pen in a pen holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop pen in a pen holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop pen in a pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop pen in a pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop pen in a pen holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup. last 20 steps: 1- put the white packet in the glass jar 2- drop pen in pen holder 3- put the blue packet in the glass jar 4- drop pen in pen holder Q: immediate next step? \u003cPRED\u003eA: drop pen in a pen holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup. last 20 steps: 1- put the white packet in the glass jar 2- drop pen in pen holder 3- put the blue packet in the glass jar 4- drop pen in pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- drop pen in a pen holder 2- drop packet in a jar 3- put the white packet in the glass jar 4- put the white packet in the glass jar 5- put the black pen in the pen holder\n\u003c/PRED\u003e","video":"2527912336842179278.mp4"}
+{"uid":"8684619191125326282","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pen into the pen stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17674731256772770775.mp4"}
+{"uid":"13838601067307414361","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup. last 20 steps: 1- put the white packet in the glass jar 2- drop pen in pen holder 3- put the blue packet in the glass jar 4- drop pen in pen holder 5- put the gold colour pen in the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- drop packet in a jar 2- put the white packet in the glass jar 3- put the white packet in the glass jar 4- put the black pen in the pen holder 5- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop packet in a jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop packet in a jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup Q: immediate next step? \u003cPRED\u003eA: drop packet in a jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop packet in a jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup. last 20 steps: 1- put the white packet in the glass jar 2- drop pen in pen holder 3- put the blue packet in the glass jar 4- drop pen in pen holder 5- put the gold colour pen in the pen holder Q: immediate next step? \u003cPRED\u003eA: drop packet in a jar\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop packet in a jar\n\u003c/PRED\u003e","video":"4629370504774782845.mp4"}
+{"uid":"2588393037262229156","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the indoor plant on the table. Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9974006378460873732.mp4"}
+{"uid":"1149693429319645186","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nunstack the bowls Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"54694709462639833.mp4"}
+{"uid":"9224635339771797201","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup Q: immediate next step? \u003cPRED\u003eA: put blue pen in holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup. last 20 steps: 1- put the white packet in the glass jar Q: next 5 steps? \u003cPRED\u003eA: 1- put blue pen in holder 2- put the blue packet in the glass jar 3- drop pen in pen holder 4- put the gold colour pen in the pen holder 5- drop packet in a jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput blue pen in holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput blue pen in holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put blue pen in holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put blue pen in holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup. last 20 steps: 1- put the white packet in the glass jar Q: immediate next step? \u003cPRED\u003eA: put blue pen in holder\n\u003c/PRED\u003e","video":"1244441673913314260.mp4"}
+{"uid":"17615197298674641373","text":"\u003ctask:success:discrete:True\u003e\ndrop pen in a pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop pen in a pen holder\n\u003c/PRED\u003e","video":"3228907260769805050.mp4"}
+{"uid":"446805273934101023","text":"\u003ctask:success:discrete:True\u003e\nput white packet in glass jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put white packet in glass jar\n\u003c/PRED\u003e","video":"6144473968520760246.mp4"}
+{"uid":"10390064695659110774","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup. last 20 steps: 1- put the white packet in the glass jar 2- drop pen in pen holder 3- put the blue packet in the glass jar Q: next 5 steps? \u003cPRED\u003eA: 1- put blue pen in holder 2- put the gold colour pen in the pen holder 3- drop packet in a jar 4- put the white packet in the glass jar 5- put the white packet in the glass jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput blue pen in holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put blue pen in holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup. last 20 steps: 1- put the white packet in the glass jar 2- drop pen in pen holder 3- put the blue packet in the glass jar Q: immediate next step? \u003cPRED\u003eA: put blue pen in holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput blue pen in holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put blue pen in holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup Q: immediate next step? \u003cPRED\u003eA: put blue pen in holder\n\u003c/PRED\u003e","video":"2743161258720081037.mp4"}
+{"uid":"3763078914626751427","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nslightly move your arm up Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15853673810816079363.mp4"}
+{"uid":"4553991190792501131","text":"\u003ctask:success:discrete:True\u003e\nput the white packet in the glass jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the white packet in the glass jar\n\u003c/PRED\u003e","video":"9557755647564409729.mp4"}
+{"uid":"10605352583047718279","text":"\u003ctask:success:discrete:True\u003e\nput the gold colour pen in the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the gold colour pen in the pen holder\n\u003c/PRED\u003e","video":"1300939978857166202.mp4"}
+{"uid":"8757692124619343347","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup. last 20 steps: 1- put the white packet in the glass jar 2- drop pen in pen holder Q: immediate next step? \u003cPRED\u003eA: put the blue packet in the glass jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the blue packet in the glass jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the blue packet in the glass jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup Q: immediate next step? \u003cPRED\u003eA: put the blue packet in the glass jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the blue packet in the glass jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup. last 20 steps: 1- put the white packet in the glass jar 2- drop pen in pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- put the blue packet in the glass jar 2- drop pen in pen holder 3- put the gold colour pen in the pen holder 4- drop packet in a jar 5- put the white packet in the glass jar\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the blue packet in the glass jar\n\u003c/PRED\u003e","video":"3446460962076930776.mp4"}
+{"uid":"9417830102006172637","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nopen the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14160940421556667411.mp4"}
+{"uid":"716276887954088143","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nseparate the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17374544364284465920.mp4"}
+{"uid":"17112700330988934387","text":"\u003ctask:success:discrete:False\u003e\nput the blue pen in the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the blue pen in the pen holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup Q: immediate next step? \u003cPRED\u003eA: put the blue pen in the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the blue pen in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the blue pen in the pen holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup. last 20 steps: 1- put the white packet in the glass jar Q: immediate next step? \u003cPRED\u003eA: put the blue pen in the pen holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup. last 20 steps: 1- put the white packet in the glass jar Q: next 5 steps? \u003cPRED\u003eA: 1- put the blue pen in the pen holder 2- put the blue packet in the glass jar 3- drop pen in pen holder 4- put the gold colour pen in the pen holder 5- drop packet in a jar\n\u003c/PRED\u003e","video":"4606166297615548023.mp4"}
+{"uid":"9695110122183965668","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the white packet in the glass jar\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the white packet in the glass jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8684868152908645810.mp4"}
+{"uid":"14819222313468369177","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put apples into bowl. last 20 steps: 1- put the apple in the bowl 2- put the apple in the bowl 3- place an apple in the bowl 4- place an apple in the bowl 5- place an apple in the bowl 6- place an apple in the bowl 7- place an apple in the bowl 8- put the apple in the bowl 9- place an apple in the bowl Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put apples into bowl Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace an apple in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put apples into bowl. last 20 steps: 1- put the apple in the bowl 2- put the apple in the bowl 3- place an apple in the bowl 4- place an apple in the bowl 5- place an apple in the bowl 6- place an apple in the bowl 7- place an apple in the bowl 8- put the apple in the bowl 9- place an apple in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place an apple in the bowl\n\u003c/PRED\u003e","video":"4292830660111288698.mp4"}
+{"uid":"13944284792683184444","text":"\u003ctask:success:discrete:False\u003e\nplace an apple in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place an apple in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place an apple in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put apples into bowl Q: immediate next step? \u003cPRED\u003eA: place an apple in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put apples into bowl. last 20 steps: 1- put the apple in the bowl 2- put the apple in the bowl 3- place an apple in the bowl 4- place an apple in the bowl 5- place an apple in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place an apple in the bowl 2- place an apple in the bowl 3- put the apple in the bowl 4- put the apple in the bowl 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace an apple in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put apples into bowl. last 20 steps: 1- put the apple in the bowl 2- put the apple in the bowl 3- place an apple in the bowl 4- place an apple in the bowl 5- place an apple in the bowl Q: immediate next step? \u003cPRED\u003eA: place an apple in the bowl\n\u003c/PRED\u003e","video":"10129496385906537871.mp4"}
+{"uid":"10280823486640545897","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put apples into bowl. last 20 steps: 1- put the apple in the bowl 2- put the apple in the bowl Q: immediate next step? \u003cPRED\u003eA: place an apple in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place an apple in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put apples into bowl. last 20 steps: 1- put the apple in the bowl 2- put the apple in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place an apple in the bowl 2- place an apple in the bowl 3- place an apple in the bowl 4- place an apple in the bowl 5- place an apple in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place an apple in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put apples into bowl Q: immediate next step? \u003cPRED\u003eA: place an apple in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace an apple in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13972948275812180805.mp4"}
+{"uid":"4470868998640135346","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put apples into bowl. last 20 steps: 1- put the apple in the bowl 2- put the apple in the bowl 3- place an apple in the bowl 4- place an apple in the bowl 5- place an apple in the bowl 6- place an apple in the bowl 7- place an apple in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the apple in the bowl 2- put the apple in the bowl 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put apples into bowl. last 20 steps: 1- put the apple in the bowl 2- put the apple in the bowl 3- place an apple in the bowl 4- place an apple in the bowl 5- place an apple in the bowl 6- place an apple in the bowl 7- place an apple in the bowl Q: immediate next step? \u003cPRED\u003eA: put the apple in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put apples into bowl Q: immediate next step? \u003cPRED\u003eA: put the apple in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the apple in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the apple in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the apple in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17576227559824016806.mp4"}
+{"uid":"6111390738086394334","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nclose the cable box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Straighten the pillow and tuck in all the charging cables in this conference room Q: immediate next step? \u003cPRED\u003eA: close the cable box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: close the cable box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Straighten the pillow and tuck in all the charging cables in this conference room. last 20 steps: 1- adjust the pillow 2- open the cable box 3- move the red cable into the box 4- move yellow cable into the box Q: next 5 steps? \u003cPRED\u003eA: 1- close the cable box 2- open the cable box 3- move the blue cable into the box 4- close the cable box 5- move the blue cable into the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: close the cable box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Straighten the pillow and tuck in all the charging cables in this conference room. last 20 steps: 1- adjust the pillow 2- open the cable box 3- move the red cable into the box 4- move yellow cable into the box Q: immediate next step? \u003cPRED\u003eA: close the cable box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nclose the cable box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3449221230404579970.mp4"}
+{"uid":"9146239114098065946","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the pista into the right cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3104729359372608608.mp4"}
+{"uid":"5694937591242310528","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3300028173361492250.mp4"}
+{"uid":"10659824505922360184","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the apple in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the apple in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put apples into bowl Q: immediate next step? \u003cPRED\u003eA: put the apple in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put apples into bowl. last 20 steps: 1- put the apple in the bowl 2- put the apple in the bowl 3- place an apple in the bowl Q: immediate next step? \u003cPRED\u003eA: put the apple in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put apples into bowl. last 20 steps: 1- put the apple in the bowl 2- put the apple in the bowl 3- place an apple in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the apple in the bowl 2- place an apple in the bowl 3- place an apple in the bowl 4- place an apple in the bowl 5- put the apple in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the apple in the bowl\n\u003c/PRED\u003e","video":"6119789366486764100.mp4"}
+{"uid":"14846164544803787929","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put apples into bowl Q: immediate next step? \u003cPRED\u003eA: put the apple in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the apple in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put apples into bowl. last 20 steps: 1- put the apple in the bowl 2- put the apple in the bowl 3- place an apple in the bowl 4- place an apple in the bowl 5- place an apple in the bowl 6- place an apple in the bowl 7- place an apple in the bowl 8- put the apple in the bowl Q: immediate next step? \u003cPRED\u003eA: put the apple in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put apples into bowl. last 20 steps: 1- put the apple in the bowl 2- put the apple in the bowl 3- place an apple in the bowl 4- place an apple in the bowl 5- place an apple in the bowl 6- place an apple in the bowl 7- place an apple in the bowl 8- put the apple in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the apple in the bowl 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the apple in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the apple in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6174835395407994760.mp4"}
+{"uid":"10266858661897203158","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace blue colour can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"422733165498406403.mp4"}
+{"uid":"2457698319563369067","text":"\u003ctask:success:discrete:True\u003e\nput the apple in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the apple in the bowl\n\u003c/PRED\u003e","video":"4451626320456321247.mp4"}
+{"uid":"9582387515941932648","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place an apple in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace an apple in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16579680969965123028.mp4"}
+{"uid":"10516881435234288965","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nunstack the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please make me a bowl of cereal and place it on my desk . last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: unstack the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please make me a bowl of cereal and place it on my desk . last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- unstack the bowl 2- place the bowl under cereal dispenser 3- pour the cereal in the bowl 4- place the bowl on the table 5- place the spoon in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: unstack the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please make me a bowl of cereal and place it on my desk Q: immediate next step? \u003cPRED\u003eA: unstack the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: unstack the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nunstack the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5447796344571255106.mp4"}
+{"uid":"15853425511893677006","text":"\u003ctask:success:discrete:True\u003e\nmove the blue cable into the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move the blue cable into the box\n\u003c/PRED\u003e","video":"12270253496421977333.mp4"}
+{"uid":"6111078733207877359","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place an apple in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace an apple in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14077319682430689459.mp4"}
+{"uid":"5520109653080214991","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput packet in tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2797622437199640104.mp4"}
+{"uid":"1093866122903827868","text":"\u003ctask:success:discrete:True\u003e\nmove the blue cable into the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove the blue cable into the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move the blue cable into the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move the blue cable into the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Straighten the pillow and tuck in all the charging cables in this conference room. last 20 steps: 1- adjust the pillow 2- open the cable box 3- move the red cable into the box 4- move yellow cable into the box 5- close the cable box 6- open the cable box 7- move the blue cable into the box 8- close the cable box 9- move the blue cable into the box Q: immediate next step? \u003cPRED\u003eA: move the blue cable into the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move the blue cable into the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Straighten the pillow and tuck in all the charging cables in this conference room. last 20 steps: 1- adjust the pillow 2- open the cable box 3- move the red cable into the box 4- move yellow cable into the box 5- close the cable box 6- open the cable box 7- move the blue cable into the box 8- close the cable box 9- move the blue cable into the box Q: next 5 steps? \u003cPRED\u003eA: 1- move the blue cable into the box 2- close the cable box 3- open the cable box 4- move blue cable into the box 5- close the cable box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Straighten the pillow and tuck in all the charging cables in this conference room Q: immediate next step? \u003cPRED\u003eA: move the blue cable into the box\n\u003c/PRED\u003e","video":"3284140576084504339.mp4"}
+{"uid":"10010653072096600153","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: open the cable box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove blue cable into the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Straighten the pillow and tuck in all the charging cables in this conference room. last 20 steps: 1- adjust the pillow 2- open the cable box 3- move the red cable into the box 4- move yellow cable into the box 5- close the cable box 6- open the cable box 7- move the blue cable into the box 8- close the cable box 9- move the blue cable into the box 10- move the blue cable into the box 11- close the cable box 12- open the cable box Q: immediate next step? \u003cPRED\u003eA: move blue cable into the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Straighten the pillow and tuck in all the charging cables in this conference room. last 20 steps: 1- adjust the pillow 2- open the cable box 3- move the red cable into the box 4- move yellow cable into the box 5- close the cable box 6- open the cable box 7- move the blue cable into the box 8- close the cable box 9- move the blue cable into the box 10- move the blue cable into the box 11- close the cable box 12- open the cable box Q: next 5 steps? \u003cPRED\u003eA: 1- move blue cable into the box 2- close the cable box 3- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move blue cable into the box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nopen the cable box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove blue cable into the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move blue cable into the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Straighten the pillow and tuck in all the charging cables in this conference room Q: immediate next step? \u003cPRED\u003eA: move blue cable into the box\n\u003c/PRED\u003e","video":"11808383099367181823.mp4"}
+{"uid":"15331226690182096943","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up the sticky notes Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7224227251452673788.mp4"}
+{"uid":"14907550434931982844","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nGo away from the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6543438160065047326.mp4"}
+{"uid":"8732776433558252943","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the bowl on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the bowl on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please make me a bowl of cereal and place it on my desk . last 20 steps: 1- unstack the bowl 2- place the bowl under cereal dispenser 3- pour the cereal in the bowl 4- place the bowl on the table 5- place the spoon in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place the bowl on the table 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please make me a bowl of cereal and place it on my desk . last 20 steps: 1- unstack the bowl 2- place the bowl under cereal dispenser 3- pour the cereal in the bowl 4- place the bowl on the table 5- place the spoon in the bowl Q: immediate next step? \u003cPRED\u003eA: place the bowl on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please make me a bowl of cereal and place it on my desk Q: immediate next step? \u003cPRED\u003eA: place the bowl on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the bowl on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the bowl on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9825117413957758946.mp4"}
+{"uid":"10161582374052367320","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put  third apple in a bowl.\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut  third apple in a bowl. Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put apples into bowl. last 20 steps: 1- put the apple in the bowl 2- put the apple in the bowl Q: immediate next step? \u003cPRED\u003eA: Put  third apple in a bowl.\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put  third apple in a bowl.\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put apples into bowl. last 20 steps: 1- put the apple in the bowl 2- put the apple in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put  third apple in a bowl. 2- place an apple in the bowl 3- place an apple in the bowl 4- place an apple in the bowl 5- place an apple in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put apples into bowl Q: immediate next step? \u003cPRED\u003eA: Put  third apple in a bowl.\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut  third apple in a bowl. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12870145866609714407.mp4"}
+{"uid":"1383465905253582175","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput candy in tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"341212607148777125.mp4"}
+{"uid":"4941251081607313823","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put sixth apple in a bowl.\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut sixth apple in a bowl. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6858468364949170748.mp4"}
+{"uid":"17167526745494051808","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the bowl under cereal dispenser\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the bowl under cereal dispenser Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8512049134368096914.mp4"}
+{"uid":"4936793712369678637","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the can on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4604586642426402457.mp4"}
+{"uid":"6667101103409740929","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nopen the bottom left side of the hoodie Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12093303047882319063.mp4"}
+{"uid":"14396349537161947211","text":"\u003ctask:success:discrete:True\u003e\nadjust the pillow Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: adjust the pillow\n\u003c/PRED\u003e","video":"7023985264373156459.mp4"}
+{"uid":"11048742394498606502","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put apples into bowl Q: immediate next step? \u003cPRED\u003eA: place an apple in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put apples into bowl. last 20 steps: 1- put the apple in the bowl 2- put the apple in the bowl 3- place an apple in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place an apple in the bowl 2- place an apple in the bowl 3- place an apple in the bowl 4- place an apple in the bowl 5- put the apple in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put apples into bowl. last 20 steps: 1- put the apple in the bowl 2- put the apple in the bowl 3- place an apple in the bowl Q: immediate next step? \u003cPRED\u003eA: place an apple in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place an apple in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place an apple in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace an apple in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12370339295845121278.mp4"}
+{"uid":"6609125543531713109","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7241761056629148602.mp4"}
+{"uid":"15848682408967065574","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place an apple in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace an apple in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put apples into bowl. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place an apple in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put apples into bowl. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place an apple in the bowl 2- put the apple in the bowl 3- place an apple in the bowl 4- place an apple in the bowl 5- place an apple in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put apples into bowl Q: immediate next step? \u003cPRED\u003eA: place an apple in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place an apple in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace an apple in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13952353565714479980.mp4"}
+{"uid":"9093059418372692016","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pistachios in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5557540742940448311.mp4"}
+{"uid":"17549892577305686859","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the packet in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4504378693719570299.mp4"}
+{"uid":"17256000642710921508","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move the blue cable into the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove the blue cable into the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Straighten the pillow and tuck in all the charging cables in this conference room. last 20 steps: 1- adjust the pillow 2- open the cable box 3- move the red cable into the box 4- move yellow cable into the box 5- close the cable box 6- open the cable box Q: immediate next step? \u003cPRED\u003eA: move the blue cable into the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Straighten the pillow and tuck in all the charging cables in this conference room. last 20 steps: 1- adjust the pillow 2- open the cable box 3- move the red cable into the box 4- move yellow cable into the box 5- close the cable box 6- open the cable box Q: next 5 steps? \u003cPRED\u003eA: 1- move the blue cable into the box 2- close the cable box 3- move the blue cable into the box 4- move the blue cable into the box 5- close the cable box\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: open the cable box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move the blue cable into the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Straighten the pillow and tuck in all the charging cables in this conference room Q: immediate next step? \u003cPRED\u003eA: move the blue cable into the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove the blue cable into the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nopen the cable box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11383568300230519584.mp4"}
+{"uid":"2742329677728859343","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put apples into bowl. last 20 steps: 1- put the apple in the bowl 2- put the apple in the bowl 3- place an apple in the bowl 4- place an apple in the bowl 5- place an apple in the bowl 6- place an apple in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place an apple in the bowl 2- put the apple in the bowl 3- put the apple in the bowl 4- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put apples into bowl Q: immediate next step? \u003cPRED\u003eA: place an apple in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place an apple in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place an apple in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace an apple in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put apples into bowl. last 20 steps: 1- put the apple in the bowl 2- put the apple in the bowl 3- place an apple in the bowl 4- place an apple in the bowl 5- place an apple in the bowl 6- place an apple in the bowl Q: immediate next step? \u003cPRED\u003eA: place an apple in the bowl\n\u003c/PRED\u003e","video":"5971602052612294681.mp4"}
+{"uid":"17394626439394451806","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ngo close to the scoop Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2852654189776438151.mp4"}
+{"uid":"3020575623690911377","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place an apple in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace an apple in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11205137694312881916.mp4"}
+{"uid":"13237845539099207461","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put apples into bowl Q: immediate next step? \u003cPRED\u003eA: place an apple in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put apples into bowl. last 20 steps: 1- put the apple in the bowl Q: immediate next step? \u003cPRED\u003eA: place an apple in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place an apple in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace an apple in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put apples into bowl. last 20 steps: 1- put the apple in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place an apple in the bowl 2- place an apple in the bowl 3- place an apple in the bowl 4- place an apple in the bowl 5- place an apple in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place an apple in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace an apple in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16157549239351893306.mp4"}
+{"uid":"863709962557304452","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the toy in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9434069931309714207.mp4"}
+{"uid":"5697292890236388846","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put apples into bowl. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Put an apple in a bowl 2- place an apple in the bowl 3- place an apple in the bowl 4- place an apple in the bowl 5- place an apple in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put an apple in a bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut an apple in a bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut an apple in a bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put an apple in a bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put apples into bowl Q: immediate next step? \u003cPRED\u003eA: Put an apple in a bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put apples into bowl. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Put an apple in a bowl\n\u003c/PRED\u003e","video":"7681882671214588492.mp4"}
+{"uid":"12152877143144293277","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put apples into bowl Q: immediate next step? \u003cPRED\u003eA: place an apple in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put apples into bowl. last 20 steps: 1- put the apple in the bowl 2- put the apple in the bowl 3- place an apple in the bowl 4- place an apple in the bowl 5- place an apple in the bowl 6- place an apple in the bowl 7- place an apple in the bowl 8- put the apple in the bowl Q: immediate next step? \u003cPRED\u003eA: place an apple in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace an apple in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace an apple in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place an apple in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put apples into bowl. last 20 steps: 1- put the apple in the bowl 2- put the apple in the bowl 3- place an apple in the bowl 4- place an apple in the bowl 5- place an apple in the bowl 6- place an apple in the bowl 7- place an apple in the bowl 8- put the apple in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place an apple in the bowl 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place an apple in the bowl\n\u003c/PRED\u003e","video":"15040229303497422969.mp4"}
+{"uid":"3400503476878194678","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the candy in the holderd Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5688463474217412162.mp4"}
+{"uid":"5679530912443077682","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place an apple in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace an apple in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7250090579083686367.mp4"}
+{"uid":"5776538799018868581","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put apples into bowl. last 20 steps: 1- put the apple in the bowl Q: immediate next step? \u003cPRED\u003eA: put the apple in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the apple in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the apple in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the apple in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put apples into bowl Q: immediate next step? \u003cPRED\u003eA: put the apple in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put apples into bowl. last 20 steps: 1- put the apple in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the apple in the bowl 2- place an apple in the bowl 3- place an apple in the bowl 4- place an apple in the bowl 5- place an apple in the bowl\n\u003c/PRED\u003e","video":"18321256436187526346.mp4"}
+{"uid":"8622284479030615833","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Straighten the pillow and tuck in all the charging cables in this conference room Q: immediate next step? \u003cPRED\u003eA: close the cable box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nclose the cable box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Straighten the pillow and tuck in all the charging cables in this conference room. last 20 steps: 1- adjust the pillow 2- open the cable box 3- move the red cable into the box 4- move yellow cable into the box 5- close the cable box 6- open the cable box 7- move the blue cable into the box 8- close the cable box 9- move the blue cable into the box 10- move the blue cable into the box Q: immediate next step? \u003cPRED\u003eA: close the cable box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: close the cable box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: close the cable box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nclose the cable box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Straighten the pillow and tuck in all the charging cables in this conference room. last 20 steps: 1- adjust the pillow 2- open the cable box 3- move the red cable into the box 4- move yellow cable into the box 5- close the cable box 6- open the cable box 7- move the blue cable into the box 8- close the cable box 9- move the blue cable into the box 10- move the blue cable into the box Q: next 5 steps? \u003cPRED\u003eA: 1- close the cable box 2- open the cable box 3- move blue cable into the box 4- close the cable box 5- done\n\u003c/PRED\u003e","video":"15489824690514935407.mp4"}
+{"uid":"13793276296620588089","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the green candy in the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15836138099591833592.mp4"}
+{"uid":"4338524162646570145","text":"\u003ctask:success:discrete:False\u003e\nplace the bowl under cereal dispenser Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please make me a bowl of cereal and place it on my desk Q: immediate next step? \u003cPRED\u003eA: place the bowl under cereal dispenser\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please make me a bowl of cereal and place it on my desk . last 20 steps: 1- unstack the bowl Q: immediate next step? \u003cPRED\u003eA: place the bowl under cereal dispenser\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please make me a bowl of cereal and place it on my desk . last 20 steps: 1- unstack the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place the bowl under cereal dispenser 2- pour the cereal in the bowl 3- place the bowl on the table 4- place the spoon in the bowl 5- place the bowl on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the bowl under cereal dispenser\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the bowl under cereal dispenser Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the bowl under cereal dispenser\n\u003c/PRED\u003e","video":"9105213186778908008.mp4"}
+{"uid":"669399277602957892","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the apple in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the apple in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put apples into bowl. last 20 steps: 1- put the apple in the bowl 2- put the apple in the bowl 3- place an apple in the bowl 4- place an apple in the bowl 5- place an apple in the bowl Q: immediate next step? \u003cPRED\u003eA: put the apple in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put apples into bowl. last 20 steps: 1- put the apple in the bowl 2- put the apple in the bowl 3- place an apple in the bowl 4- place an apple in the bowl 5- place an apple in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the apple in the bowl 2- place an apple in the bowl 3- put the apple in the bowl 4- put the apple in the bowl 5- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the apple in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put apples into bowl Q: immediate next step? \u003cPRED\u003eA: put the apple in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the apple in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1294516383013398874.mp4"}
+{"uid":"1263093101000765719","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput redbull can in tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11872133330331782478.mp4"}
+{"uid":"9891315516145608093","text":"\u003ctask:success:discrete:True\u003e\nopen the cable box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: open the cable box\n\u003c/PRED\u003e","video":"7141258544964191923.mp4"}
+{"uid":"17736631475833433812","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Straighten the pillow and tuck in all the charging cables in this conference room. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- adjust the pillow 2- open the cable box 3- move the red cable into the box 4- move yellow cable into the box 5- close the cable box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: adjust the pillow\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nadjust the pillow Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Straighten the pillow and tuck in all the charging cables in this conference room Q: immediate next step? \u003cPRED\u003eA: adjust the pillow\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nadjust the pillow Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Straighten the pillow and tuck in all the charging cables in this conference room. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: adjust the pillow\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: adjust the pillow\n\u003c/PRED\u003e","video":"9224028084440382310.mp4"}
+{"uid":"1741050575776363711","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace an apple in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put apples into bowl. last 20 steps: 1- put the apple in the bowl 2- put the apple in the bowl 3- place an apple in the bowl 4- place an apple in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place an apple in the bowl 2- place an apple in the bowl 3- place an apple in the bowl 4- put the apple in the bowl 5- put the apple in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put apples into bowl. last 20 steps: 1- put the apple in the bowl 2- put the apple in the bowl 3- place an apple in the bowl 4- place an apple in the bowl Q: immediate next step? \u003cPRED\u003eA: place an apple in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place an apple in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place an apple in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put apples into bowl Q: immediate next step? \u003cPRED\u003eA: place an apple in the bowl\n\u003c/PRED\u003e","video":"14545161183719512936.mp4"}
+{"uid":"13615156776004548328","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove the bottom second plant to left a bit Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4400675425108454137.mp4"}
+{"uid":"9410396583474030176","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nSlightly move to the left Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14501862257610551085.mp4"}
+{"uid":"647991796195550952","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move yellow cable into the box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nmove yellow cable into the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"126896393257368009.mp4"}
+{"uid":"11655815807013713356","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nremove cable from cover Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6217629263006617694.mp4"}
+{"uid":"3269861424964292499","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nmove yellow cable into the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Straighten the pillow and tuck in all the charging cables in this conference room. last 20 steps: 1- adjust the pillow 2- open the cable box 3- move the red cable into the box Q: next 5 steps? \u003cPRED\u003eA: 1- move yellow cable into the box 2- close the cable box 3- open the cable box 4- move the blue cable into the box 5- close the cable box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move yellow cable into the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Straighten the pillow and tuck in all the charging cables in this conference room. last 20 steps: 1- adjust the pillow 2- open the cable box 3- move the red cable into the box Q: immediate next step? \u003cPRED\u003eA: move yellow cable into the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move yellow cable into the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Straighten the pillow and tuck in all the charging cables in this conference room Q: immediate next step? \u003cPRED\u003eA: move yellow cable into the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove yellow cable into the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10196447293361200077.mp4"}
+{"uid":"18049839339864987534","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput pistachio in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17641503967943389141.mp4"}
+{"uid":"8313306475035168261","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please make me a bowl of cereal and place it on my desk . last 20 steps: 1- unstack the bowl 2- place the bowl under cereal dispenser Q: immediate next step? \u003cPRED\u003eA: pour the cereal in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please make me a bowl of cereal and place it on my desk Q: immediate next step? \u003cPRED\u003eA: pour the cereal in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pour the cereal in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npour the cereal in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npour the cereal in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pour the cereal in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please make me a bowl of cereal and place it on my desk . last 20 steps: 1- unstack the bowl 2- place the bowl under cereal dispenser Q: next 5 steps? \u003cPRED\u003eA: 1- pour the cereal in the bowl 2- place the bowl on the table 3- place the spoon in the bowl 4- place the bowl on the table 5- done\n\u003c/PRED\u003e","video":"2077397098015173999.mp4"}
+{"uid":"6885681561959772878","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the blue candy in the right plastic glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12500669837200785027.mp4"}
+{"uid":"13185591802191001312","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the apple in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the apple in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put apples into bowl. last 20 steps: 1- put the apple in the bowl 2- put the apple in the bowl 3- place an apple in the bowl 4- place an apple in the bowl 5- place an apple in the bowl 6- place an apple in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the apple in the bowl 2- put the apple in the bowl 3- put the apple in the bowl 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the apple in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put apples into bowl Q: immediate next step? \u003cPRED\u003eA: put the apple in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put apples into bowl. last 20 steps: 1- put the apple in the bowl 2- put the apple in the bowl 3- place an apple in the bowl 4- place an apple in the bowl 5- place an apple in the bowl 6- place an apple in the bowl Q: immediate next step? \u003cPRED\u003eA: put the apple in the bowl\n\u003c/PRED\u003e","video":"6965099450639985374.mp4"}
+{"uid":"4799386707776524480","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut green sugar packet in the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2015426956150195001.mp4"}
+{"uid":"7777985187688084086","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open the cable box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nopen the cable box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Straighten the pillow and tuck in all the charging cables in this conference room. last 20 steps: 1- adjust the pillow 2- open the cable box 3- move the red cable into the box 4- move yellow cable into the box 5- close the cable box 6- open the cable box 7- move the blue cable into the box 8- close the cable box 9- move the blue cable into the box 10- move the blue cable into the box 11- close the cable box Q: immediate next step? \u003cPRED\u003eA: open the cable box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open the cable box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Straighten the pillow and tuck in all the charging cables in this conference room Q: immediate next step? \u003cPRED\u003eA: open the cable box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nopen the cable box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Straighten the pillow and tuck in all the charging cables in this conference room. last 20 steps: 1- adjust the pillow 2- open the cable box 3- move the red cable into the box 4- move yellow cable into the box 5- close the cable box 6- open the cable box 7- move the blue cable into the box 8- close the cable box 9- move the blue cable into the box 10- move the blue cable into the box 11- close the cable box Q: next 5 steps? \u003cPRED\u003eA: 1- open the cable box 2- move blue cable into the box 3- close the cable box 4- done\n\u003c/PRED\u003e","video":"5291254121808070332.mp4"}
+{"uid":"3165767653849478524","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Straighten the pillow and tuck in all the charging cables in this conference room Q: immediate next step? \u003cPRED\u003eA: open the cable box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open the cable box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Straighten the pillow and tuck in all the charging cables in this conference room. last 20 steps: 1- adjust the pillow 2- open the cable box 3- move the red cable into the box 4- move yellow cable into the box 5- close the cable box Q: next 5 steps? \u003cPRED\u003eA: 1- open the cable box 2- move the blue cable into the box 3- close the cable box 4- move the blue cable into the box 5- move the blue cable into the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nopen the cable box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nopen the cable box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open the cable box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Straighten the pillow and tuck in all the charging cables in this conference room. last 20 steps: 1- adjust the pillow 2- open the cable box 3- move the red cable into the box 4- move yellow cable into the box 5- close the cable box Q: immediate next step? \u003cPRED\u003eA: open the cable box\n\u003c/PRED\u003e","video":"9155917090565659317.mp4"}
+{"uid":"2901226766808792514","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the orange in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10164438904663900317.mp4"}
+{"uid":"14210783022469557270","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please make me a bowl of cereal and place it on my desk . last 20 steps: 1- unstack the bowl 2- place the bowl under cereal dispenser 3- pour the cereal in the bowl 4- place the bowl on the table 5- place the spoon in the bowl 6- place the bowl on the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please make me a bowl of cereal and place it on my desk . last 20 steps: 1- unstack the bowl 2- place the bowl under cereal dispenser 3- pour the cereal in the bowl 4- place the bowl on the table 5- place the spoon in the bowl 6- place the bowl on the table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the bowl on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the bowl on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please make me a bowl of cereal and place it on my desk Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"7966668609666668631.mp4"}
+{"uid":"6151773117539022051","text":"\u003ctask:success:discrete:True\u003e\nput the apple in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the apple in the bowl\n\u003c/PRED\u003e","video":"3687171959854774526.mp4"}
+{"uid":"3401887130223954130","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put apples into bowl. last 20 steps: 1- put the apple in the bowl Q: immediate next step? \u003cPRED\u003eA: Put second apple in a bowl.\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put apples into bowl. last 20 steps: 1- put the apple in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put second apple in a bowl. 2- place an apple in the bowl 3- place an apple in the bowl 4- place an apple in the bowl 5- place an apple in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut second apple in a bowl. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put second apple in a bowl.\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut second apple in a bowl. Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put apples into bowl Q: immediate next step? \u003cPRED\u003eA: Put second apple in a bowl.\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put second apple in a bowl.\n\u003c/PRED\u003e","video":"15634660041954526324.mp4"}
+{"uid":"4543154441368650632","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut  fourth apple in a bowl. Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put apples into bowl. last 20 steps: 1- put the apple in the bowl 2- put the apple in the bowl 3- place an apple in the bowl Q: immediate next step? \u003cPRED\u003eA: Put  fourth apple in a bowl.\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut  fourth apple in a bowl. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put apples into bowl. last 20 steps: 1- put the apple in the bowl 2- put the apple in the bowl 3- place an apple in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put  fourth apple in a bowl. 2- place an apple in the bowl 3- place an apple in the bowl 4- put the apple in the bowl 5- put the apple in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put  fourth apple in a bowl.\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put  fourth apple in a bowl.\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put apples into bowl Q: immediate next step? \u003cPRED\u003eA: Put  fourth apple in a bowl.\n\u003c/PRED\u003e","video":"6067287477036021055.mp4"}
+{"uid":"3740797024197797806","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please make me a bowl of cereal and place it on my desk . last 20 steps: 1- unstack the bowl 2- place the bowl under cereal dispenser 3- pour the cereal in the bowl Q: immediate next step? \u003cPRED\u003eA: place the bowl on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the bowl on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please make me a bowl of cereal and place it on my desk Q: immediate next step? \u003cPRED\u003eA: place the bowl on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the bowl on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please make me a bowl of cereal and place it on my desk . last 20 steps: 1- unstack the bowl 2- place the bowl under cereal dispenser 3- pour the cereal in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place the bowl on the table 2- place the spoon in the bowl 3- place the bowl on the table 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the bowl on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the bowl on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11379520884017434543.mp4"}
+{"uid":"3675463806126578371","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: close the cable box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: close the cable box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Straighten the pillow and tuck in all the charging cables in this conference room Q: immediate next step? \u003cPRED\u003eA: close the cable box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Straighten the pillow and tuck in all the charging cables in this conference room. last 20 steps: 1- adjust the pillow 2- open the cable box 3- move the red cable into the box 4- move yellow cable into the box 5- close the cable box 6- open the cable box 7- move the blue cable into the box Q: immediate next step? \u003cPRED\u003eA: close the cable box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nclose the cable box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nclose the cable box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Straighten the pillow and tuck in all the charging cables in this conference room. last 20 steps: 1- adjust the pillow 2- open the cable box 3- move the red cable into the box 4- move yellow cable into the box 5- close the cable box 6- open the cable box 7- move the blue cable into the box Q: next 5 steps? \u003cPRED\u003eA: 1- close the cable box 2- move the blue cable into the box 3- move the blue cable into the box 4- close the cable box 5- open the cable box\n\u003c/PRED\u003e","video":"2095406270668276667.mp4"}
+{"uid":"16814082425415235708","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put apples into bowl. last 20 steps: 1- put the apple in the bowl 2- put the apple in the bowl 3- place an apple in the bowl 4- place an apple in the bowl 5- place an apple in the bowl 6- place an apple in the bowl 7- place an apple in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put eight apple in a bowl. 2- put the apple in the bowl 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put apples into bowl. last 20 steps: 1- put the apple in the bowl 2- put the apple in the bowl 3- place an apple in the bowl 4- place an apple in the bowl 5- place an apple in the bowl 6- place an apple in the bowl 7- place an apple in the bowl Q: immediate next step? \u003cPRED\u003eA: Put eight apple in a bowl.\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put apples into bowl Q: immediate next step? \u003cPRED\u003eA: Put eight apple in a bowl.\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut eight apple in a bowl. Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put eight apple in a bowl.\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put eight apple in a bowl.\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut eight apple in a bowl. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4948231143460972630.mp4"}
+{"uid":"9283163885965531745","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput pen on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4640922700268873561.mp4"}
+{"uid":"17383659471528153234","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"142570087454835954.mp4"}
+{"uid":"5964765686598645834","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the sticky notes in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15870661733731715270.mp4"}
+{"uid":"9957371951519526758","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace packet in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3894705799124718220.mp4"}
+{"uid":"2520000786417987605","text":"\u003ctask:success:discrete:False\u003e\nmove the red cable into the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move the red cable into the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Straighten the pillow and tuck in all the charging cables in this conference room Q: immediate next step? \u003cPRED\u003eA: move the red cable into the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Straighten the pillow and tuck in all the charging cables in this conference room. last 20 steps: 1- adjust the pillow 2- open the cable box Q: immediate next step? \u003cPRED\u003eA: move the red cable into the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Straighten the pillow and tuck in all the charging cables in this conference room. last 20 steps: 1- adjust the pillow 2- open the cable box Q: next 5 steps? \u003cPRED\u003eA: 1- move the red cable into the box 2- move yellow cable into the box 3- close the cable box 4- open the cable box 5- move the blue cable into the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move the red cable into the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove the red cable into the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10502633051157009653.mp4"}
+{"uid":"7629833445930134171","text":"\u003ctask:success:discrete:True\u003e\nput the apple in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the apple in the bowl\n\u003c/PRED\u003e","video":"16308186356373119640.mp4"}
+{"uid":"15261724442947167489","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the orange candy in a bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13429920241299886012.mp4"}
+{"uid":"17159835618868728203","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put apples into bowl. last 20 steps: 1- put the apple in the bowl 2- put the apple in the bowl 3- place an apple in the bowl 4- place an apple in the bowl 5- place an apple in the bowl 6- place an apple in the bowl 7- place an apple in the bowl 8- put the apple in the bowl 9- put the apple in the bowl Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the apple in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put apples into bowl Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put apples into bowl. last 20 steps: 1- put the apple in the bowl 2- put the apple in the bowl 3- place an apple in the bowl 4- place an apple in the bowl 5- place an apple in the bowl 6- place an apple in the bowl 7- place an apple in the bowl 8- put the apple in the bowl 9- put the apple in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the apple in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"73302061220508022.mp4"}
+{"uid":"2880266983031314380","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the candy in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13685011969386781340.mp4"}
+{"uid":"11262194789791296455","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove towards the trolley Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16759710847455337366.mp4"}
+{"uid":"8811115938159327373","text":"\u003ctask:success:discrete:False\u003e\nclose the cable box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: close the cable box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Straighten the pillow and tuck in all the charging cables in this conference room Q: immediate next step? \u003cPRED\u003eA: close the cable box\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move blue cable into the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Straighten the pillow and tuck in all the charging cables in this conference room. last 20 steps: 1- adjust the pillow 2- open the cable box 3- move the red cable into the box 4- move yellow cable into the box 5- close the cable box 6- open the cable box 7- move the blue cable into the box 8- close the cable box 9- move the blue cable into the box 10- move the blue cable into the box 11- close the cable box 12- open the cable box 13- move blue cable into the box Q: next 5 steps? \u003cPRED\u003eA: 1- close the cable box 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nclose the cable box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: close the cable box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nmove blue cable into the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Straighten the pillow and tuck in all the charging cables in this conference room. last 20 steps: 1- adjust the pillow 2- open the cable box 3- move the red cable into the box 4- move yellow cable into the box 5- close the cable box 6- open the cable box 7- move the blue cable into the box 8- close the cable box 9- move the blue cable into the box 10- move the blue cable into the box 11- close the cable box 12- open the cable box 13- move blue cable into the box Q: immediate next step? \u003cPRED\u003eA: close the cable box\n\u003c/PRED\u003e","video":"6039162936965614336.mp4"}
+{"uid":"17881816030664203091","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the pink cup on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17722474287141726859.mp4"}
+{"uid":"14358337567386366280","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace apple on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17781862204678443890.mp4"}
+{"uid":"1353292338103503834","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nleave the room Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15177382657371343396.mp4"}
+{"uid":"14459693174903176216","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ngo the left room Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14288477085964476630.mp4"}
+{"uid":"13201527421965658687","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put apples into bowl. last 20 steps: 1- put the apple in the bowl 2- put the apple in the bowl 3- place an apple in the bowl 4- place an apple in the bowl Q: immediate next step? \u003cPRED\u003eA: Put fifth apple in a bowl.\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut fifth apple in a bowl. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut fifth apple in a bowl. Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put apples into bowl Q: immediate next step? \u003cPRED\u003eA: Put fifth apple in a bowl.\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put fifth apple in a bowl.\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put apples into bowl. last 20 steps: 1- put the apple in the bowl 2- put the apple in the bowl 3- place an apple in the bowl 4- place an apple in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put fifth apple in a bowl. 2- place an apple in the bowl 3- place an apple in the bowl 4- put the apple in the bowl 5- put the apple in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put fifth apple in a bowl.\n\u003c/PRED\u003e","video":"16247231811764272361.mp4"}
+{"uid":"782705530053810407","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the smart 50 into the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12820482407141699629.mp4"}
+{"uid":"2655355517479918965","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput pistachio in cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6619294005583696399.mp4"}
+{"uid":"6811130587510154913","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Straighten the pillow and tuck in all the charging cables in this conference room. last 20 steps: 1- adjust the pillow Q: next 5 steps? \u003cPRED\u003eA: 1- open the cable box 2- move the red cable into the box 3- move yellow cable into the box 4- close the cable box 5- open the cable box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nopen the cable box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Straighten the pillow and tuck in all the charging cables in this conference room. last 20 steps: 1- adjust the pillow Q: immediate next step? \u003cPRED\u003eA: open the cable box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Straighten the pillow and tuck in all the charging cables in this conference room Q: immediate next step? \u003cPRED\u003eA: open the cable box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nopen the cable box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open the cable box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open the cable box\n\u003c/PRED\u003e","video":"13650692292899139574.mp4"}
+{"uid":"13908529469774976909","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the sugar packet in the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8279349490981437718.mp4"}
+{"uid":"13700934840610434930","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Straighten the pillow and tuck in all the charging cables in this conference room. last 20 steps: 1- adjust the pillow 2- open the cable box 3- move the red cable into the box 4- move yellow cable into the box 5- close the cable box 6- open the cable box 7- move the blue cable into the box 8- close the cable box Q: immediate next step? \u003cPRED\u003eA: move the blue cable into the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move the blue cable into the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Straighten the pillow and tuck in all the charging cables in this conference room Q: immediate next step? \u003cPRED\u003eA: move the blue cable into the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove the blue cable into the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove the blue cable into the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Straighten the pillow and tuck in all the charging cables in this conference room. last 20 steps: 1- adjust the pillow 2- open the cable box 3- move the red cable into the box 4- move yellow cable into the box 5- close the cable box 6- open the cable box 7- move the blue cable into the box 8- close the cable box Q: next 5 steps? \u003cPRED\u003eA: 1- move the blue cable into the box 2- move the blue cable into the box 3- close the cable box 4- open the cable box 5- move blue cable into the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move the blue cable into the box\n\u003c/PRED\u003e","video":"8800205259483081388.mp4"}
+{"uid":"1717373519337191120","text":"\u003ctask:success:discrete:True\u003e\nput the apple in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the apple in the bowl\n\u003c/PRED\u003e","video":"12105186189066083665.mp4"}
+{"uid":"7905948204720058467","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the white packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13098042540302884959.mp4"}
+{"uid":"10861793793666017234","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please make me a bowl of cereal and place it on my desk Q: immediate next step? \u003cPRED\u003eA: place the spoon in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the spoon in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the spoon in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please make me a bowl of cereal and place it on my desk . last 20 steps: 1- unstack the bowl 2- place the bowl under cereal dispenser 3- pour the cereal in the bowl 4- place the bowl on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the spoon in the bowl 2- place the bowl on the table 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the spoon in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the spoon in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please make me a bowl of cereal and place it on my desk . last 20 steps: 1- unstack the bowl 2- place the bowl under cereal dispenser 3- pour the cereal in the bowl 4- place the bowl on the table Q: immediate next step? \u003cPRED\u003eA: place the spoon in the bowl\n\u003c/PRED\u003e","video":"17481702798912967246.mp4"}
+{"uid":"3697461648417793307","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the apple in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put apples into bowl. last 20 steps: 1- put the apple in the bowl 2- put the apple in the bowl 3- place an apple in the bowl 4- place an apple in the bowl Q: immediate next step? \u003cPRED\u003eA: put the apple in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put apples into bowl. last 20 steps: 1- put the apple in the bowl 2- put the apple in the bowl 3- place an apple in the bowl 4- place an apple in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the apple in the bowl 2- place an apple in the bowl 3- place an apple in the bowl 4- put the apple in the bowl 5- put the apple in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the apple in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the apple in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put apples into bowl Q: immediate next step? \u003cPRED\u003eA: put the apple in the bowl\n\u003c/PRED\u003e","video":"9891548537240809599.mp4"}
+{"uid":"17392870492899062536","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput knife in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15434958065978740565.mp4"}
+{"uid":"1518047061455815945","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put apples into bowl. last 20 steps: 1- put the apple in the bowl 2- put the apple in the bowl 3- place an apple in the bowl 4- place an apple in the bowl 5- place an apple in the bowl Q: immediate next step? \u003cPRED\u003eA: Put sixth apple in a bowl.\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put sixth apple in a bowl.\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut sixth apple in a bowl. Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put apples into bowl. last 20 steps: 1- put the apple in the bowl 2- put the apple in the bowl 3- place an apple in the bowl 4- place an apple in the bowl 5- place an apple in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put sixth apple in a bowl. 2- put the apple in the bowl 3- put the apple in the bowl 4- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put sixth apple in a bowl.\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put apples into bowl Q: immediate next step? \u003cPRED\u003eA: Put sixth apple in a bowl.\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut sixth apple in a bowl. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2133793589548440130.mp4"}
+{"uid":"5370945821319511219","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put ninth apple in a bowl.\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put apples into bowl Q: immediate next step? \u003cPRED\u003eA: Put ninth apple in a bowl.\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put apples into bowl. last 20 steps: 1- put the apple in the bowl 2- put the apple in the bowl 3- place an apple in the bowl 4- place an apple in the bowl 5- place an apple in the bowl 6- place an apple in the bowl 7- place an apple in the bowl 8- put the apple in the bowl Q: immediate next step? \u003cPRED\u003eA: Put ninth apple in a bowl.\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut ninth apple in a bowl. Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put apples into bowl. last 20 steps: 1- put the apple in the bowl 2- put the apple in the bowl 3- place an apple in the bowl 4- place an apple in the bowl 5- place an apple in the bowl 6- place an apple in the bowl 7- place an apple in the bowl 8- put the apple in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put ninth apple in a bowl. 2- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut ninth apple in a bowl. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put ninth apple in a bowl.\n\u003c/PRED\u003e","video":"18243995285693841543.mp4"}
+{"uid":"17398405846745837221","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput apple in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14963593537212997097.mp4"}
+{"uid":"6843165158006175790","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the candy in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"444289425241101129.mp4"}
+{"uid":"6218828293774280421","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput pistachio in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"504430659887145662.mp4"}
+{"uid":"12596555226449524785","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the apple in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the apple in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6079129901945267307.mp4"}
+{"uid":"13147511888031389321","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place an apple in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace an apple in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put apples into bowl. last 20 steps: 1- put the apple in the bowl 2- put the apple in the bowl 3- place an apple in the bowl 4- place an apple in the bowl 5- place an apple in the bowl 6- place an apple in the bowl 7- place an apple in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place an apple in the bowl 2- put the apple in the bowl 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put apples into bowl Q: immediate next step? \u003cPRED\u003eA: place an apple in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put apples into bowl. last 20 steps: 1- put the apple in the bowl 2- put the apple in the bowl 3- place an apple in the bowl 4- place an apple in the bowl 5- place an apple in the bowl 6- place an apple in the bowl 7- place an apple in the bowl Q: immediate next step? \u003cPRED\u003eA: place an apple in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace an apple in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place an apple in the bowl\n\u003c/PRED\u003e","video":"9156468257454765394.mp4"}
+{"uid":"3400604975559919022","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nUnstack the plastic cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14452254117295129026.mp4"}
+{"uid":"17241650550875064765","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put apples into bowl Q: immediate next step? \u003cPRED\u003eA: Put seventh apple in a bowl.\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put seventh apple in a bowl.\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut seventh apple in a bowl. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put apples into bowl. last 20 steps: 1- put the apple in the bowl 2- put the apple in the bowl 3- place an apple in the bowl 4- place an apple in the bowl 5- place an apple in the bowl 6- place an apple in the bowl Q: immediate next step? \u003cPRED\u003eA: Put seventh apple in a bowl.\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put apples into bowl. last 20 steps: 1- put the apple in the bowl 2- put the apple in the bowl 3- place an apple in the bowl 4- place an apple in the bowl 5- place an apple in the bowl 6- place an apple in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put seventh apple in a bowl. 2- put the apple in the bowl 3- put the apple in the bowl 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut seventh apple in a bowl. Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put seventh apple in a bowl.\n\u003c/PRED\u003e","video":"7678602677168270124.mp4"}
+{"uid":"5908749430200050077","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8640179474474139382.mp4"}
+{"uid":"15029010669468083825","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the apple in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the apple in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11991386549805630532.mp4"}
+{"uid":"17336212982525106499","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the blue packet into the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13041992351169008769.mp4"}
+{"uid":"5457687485731716963","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put apples into bowl. last 20 steps: 1- put the apple in the bowl 2- put the apple in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the apple in the bowl 2- place an apple in the bowl 3- place an apple in the bowl 4- place an apple in the bowl 5- place an apple in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the apple in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put apples into bowl. last 20 steps: 1- put the apple in the bowl 2- put the apple in the bowl Q: immediate next step? \u003cPRED\u003eA: put the apple in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put apples into bowl Q: immediate next step? \u003cPRED\u003eA: put the apple in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the apple in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the apple in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7493200207732664415.mp4"}
+{"uid":"1633477640665037035","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the fork in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4576998784196705896.mp4"}
+{"uid":"12351426117420545243","text":"\u003ctask:success:discrete:True\u003e\nGrab the coconut tetra pack bottle Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Grab the coconut tetra pack bottle\n\u003c/PRED\u003e","video":"9269723597142685325.mp4"}
+{"uid":"15607846238002872754","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the orange in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1913385553261297445.mp4"}
+{"uid":"12828756876818566888","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move your arm close to the coconut tetra pack bottle\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove your arm close to the coconut tetra pack bottle Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move your arm close to the coconut tetra pack bottle\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: load items from the box into the cart. last 20 steps: 1- Move your arm towards the cartoon box 2- Grab a glass 3- Lift up the glass 4- Release the glass in the trolley 5- Move towards the cartoon box 6- Grab the glass 7- Pick up the glass 8- Drop the glass in the trolley 9- Move your arm close to the cartoon box 10- Grab the coconut tetra pack bottle 11- Lift up the coconut tetra pack bottle 12- Release the tetra pack bottle Q: immediate next step? \u003cPRED\u003eA: Move your arm close to the coconut tetra pack bottle\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: load items from the box into the cart Q: immediate next step? \u003cPRED\u003eA: Move your arm close to the coconut tetra pack bottle\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove your arm close to the coconut tetra pack bottle Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: load items from the box into the cart. last 20 steps: 1- Move your arm towards the cartoon box 2- Grab a glass 3- Lift up the glass 4- Release the glass in the trolley 5- Move towards the cartoon box 6- Grab the glass 7- Pick up the glass 8- Drop the glass in the trolley 9- Move your arm close to the cartoon box 10- Grab the coconut tetra pack bottle 11- Lift up the coconut tetra pack bottle 12- Release the tetra pack bottle Q: next 5 steps? \u003cPRED\u003eA: 1- Move your arm close to the coconut tetra pack bottle 2- Grab the coconut tetra pack bottle 3- Release the coconut tetra pack bottle in the trolley 4- done\n\u003c/PRED\u003e","video":"6025021784389288168.mp4"}
+{"uid":"11569986591945656501","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: load items from the box into the cart Q: immediate next step? \u003cPRED\u003eA: Move towards the cartoon box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move towards the cartoon box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: load items from the box into the cart. last 20 steps: 1- Move your arm towards the cartoon box 2- Grab a glass 3- Lift up the glass Q: next 5 steps? \u003cPRED\u003eA: 1- Move towards the cartoon box 2- Grab the glass 3- Pick up the glass 4- Drop the glass in the trolley 5- Move your arm close to the cartoon box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: load items from the box into the cart. last 20 steps: 1- Move your arm towards the cartoon box 2- Grab a glass 3- Lift up the glass Q: immediate next step? \u003cPRED\u003eA: Move towards the cartoon box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove towards the cartoon box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove towards the cartoon box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move towards the cartoon box\n\u003c/PRED\u003e","video":"12408020600914187928.mp4"}
+{"uid":"9346237498583821449","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Move your arm close to the cartoon box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nMove your arm close to the cartoon box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16216313158498279740.mp4"}
+{"uid":"2804612187099000476","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: load items from the box into the cart Q: immediate next step? \u003cPRED\u003eA: Move your arm towards the cartoon box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: load items from the box into the cart. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Move your arm towards the cartoon box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove your arm towards the cartoon box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove your arm towards the cartoon box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move your arm towards the cartoon box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move your arm towards the cartoon box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: load items from the box into the cart. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Move your arm towards the cartoon box 2- Lift up the glass 3- Release the glass in the trolley 4- Move towards the cartoon box 5- Grab the glass\n\u003c/PRED\u003e","video":"9206211575500836785.mp4"}
+{"uid":"13695472732608437564","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: load items from the box into the cart. last 20 steps: 1- Move your arm towards the cartoon box 2- Grab a glass 3- Lift up the glass 4- Release the glass in the trolley 5- Move towards the cartoon box Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the glass 2- Move your arm close to the cartoon box 3- Grab the coconut tetra pack bottle 4- Lift up the coconut tetra pack bottle 5- Release the tetra pack bottle\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: load items from the box into the cart. last 20 steps: 1- Move your arm towards the cartoon box 2- Grab a glass 3- Lift up the glass 4- Release the glass in the trolley 5- Move towards the cartoon box Q: immediate next step? \u003cPRED\u003eA: Pick up the glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: load items from the box into the cart Q: immediate next step? \u003cPRED\u003eA: Pick up the glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the glass\n\u003c/PRED\u003e","video":"7709887059379271802.mp4"}
+{"uid":"12697199546373247317","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move your arm close to the cartoon box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove your arm close to the cartoon box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove your arm close to the cartoon box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: load items from the box into the cart Q: immediate next step? \u003cPRED\u003eA: Move your arm close to the cartoon box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: load items from the box into the cart. last 20 steps: 1- Move your arm towards the cartoon box 2- Grab a glass 3- Lift up the glass 4- Release the glass in the trolley 5- Move towards the cartoon box 6- Grab the glass 7- Pick up the glass 8- Drop the glass in the trolley Q: immediate next step? \u003cPRED\u003eA: Move your arm close to the cartoon box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move your arm close to the cartoon box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: load items from the box into the cart. last 20 steps: 1- Move your arm towards the cartoon box 2- Grab a glass 3- Lift up the glass 4- Release the glass in the trolley 5- Move towards the cartoon box 6- Grab the glass 7- Pick up the glass 8- Drop the glass in the trolley Q: next 5 steps? \u003cPRED\u003eA: 1- Move your arm close to the cartoon box 2- Lift up the coconut tetra pack bottle 3- Release the tetra pack bottle 4- Move your arm close to the coconut tetra pack bottle 5- Grab the coconut tetra pack bottle\n\u003c/PRED\u003e","video":"16309892584496158401.mp4"}
+{"uid":"7647535357955892002","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11813904205853734870.mp4"}
+{"uid":"14624595150938378263","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the red packet in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6237121692623103359.mp4"}
+{"uid":"481566847862046141","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nGrab the coconut tetra pack bottle Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: load items from the box into the cart Q: immediate next step? \u003cPRED\u003eA: Grab the coconut tetra pack bottle\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Grab the coconut tetra pack bottle\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: load items from the box into the cart. last 20 steps: 1- Move your arm towards the cartoon box 2- Grab a glass 3- Lift up the glass 4- Release the glass in the trolley 5- Move towards the cartoon box 6- Grab the glass 7- Pick up the glass 8- Drop the glass in the trolley Q: next 5 steps? \u003cPRED\u003eA: 1- Grab the coconut tetra pack bottle 2- Release the tetra pack bottle 3- Move your arm close to the coconut tetra pack bottle 4- Grab the coconut tetra pack bottle 5- Release the coconut tetra pack bottle in the trolley\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: load items from the box into the cart. last 20 steps: 1- Move your arm towards the cartoon box 2- Grab a glass 3- Lift up the glass 4- Release the glass in the trolley 5- Move towards the cartoon box 6- Grab the glass 7- Pick up the glass 8- Drop the glass in the trolley Q: immediate next step? \u003cPRED\u003eA: Grab the coconut tetra pack bottle\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nGrab the coconut tetra pack bottle Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Grab the coconut tetra pack bottle\n\u003c/PRED\u003e","video":"4716033092719613696.mp4"}
+{"uid":"8747173030257041361","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3385365982003466635.mp4"}
+{"uid":"4129004997369814879","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the forks  in the fork holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3062518940063482652.mp4"}
+{"uid":"6707518984860336885","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: unstack paper bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nunstack paper bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please make me a bowl of cereal. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: unstack paper bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please make me a bowl of cereal. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- unstack paper bowl 2- put paper cup under snacks machine 3- put snacks in the paper bowl 4- put paper bowl on the table 5- put spoon in the paper bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please make me a bowl of cereal Q: immediate next step? \u003cPRED\u003eA: unstack paper bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nunstack paper bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: unstack paper bowl\n\u003c/PRED\u003e","video":"12901948906563941795.mp4"}
+{"uid":"6102197599249093588","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please make me a bowl of cereal. last 20 steps: 1- unstack paper bowl 2- put paper cup under snacks machine 3- put snacks in the paper bowl 4- put paper bowl on the table 5- put spoon in the paper bowl Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put spoon in the paper bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please make me a bowl of cereal. last 20 steps: 1- unstack paper bowl 2- put paper cup under snacks machine 3- put snacks in the paper bowl 4- put paper bowl on the table 5- put spoon in the paper bowl Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please make me a bowl of cereal Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput spoon in the paper bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10600485664100074176.mp4"}
+{"uid":"2602549782393637321","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Grab the coconut tetra pack bottle\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: load items from the box into the cart Q: immediate next step? \u003cPRED\u003eA: Grab the coconut tetra pack bottle\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nGrab the coconut tetra pack bottle Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nGrab the coconut tetra pack bottle Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: load items from the box into the cart. last 20 steps: 1- Move your arm towards the cartoon box 2- Grab a glass 3- Lift up the glass 4- Release the glass in the trolley 5- Move towards the cartoon box 6- Grab the glass 7- Pick up the glass 8- Drop the glass in the trolley 9- Move your arm close to the cartoon box 10- Grab the coconut tetra pack bottle 11- Lift up the coconut tetra pack bottle 12- Release the tetra pack bottle 13- Move your arm close to the coconut tetra pack bottle Q: next 5 steps? \u003cPRED\u003eA: 1- Grab the coconut tetra pack bottle 2- Release the coconut tetra pack bottle in the trolley 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: load items from the box into the cart. last 20 steps: 1- Move your arm towards the cartoon box 2- Grab a glass 3- Lift up the glass 4- Release the glass in the trolley 5- Move towards the cartoon box 6- Grab the glass 7- Pick up the glass 8- Drop the glass in the trolley 9- Move your arm close to the cartoon box 10- Grab the coconut tetra pack bottle 11- Lift up the coconut tetra pack bottle 12- Release the tetra pack bottle 13- Move your arm close to the coconut tetra pack bottle Q: immediate next step? \u003cPRED\u003eA: Grab the coconut tetra pack bottle\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Grab the coconut tetra pack bottle\n\u003c/PRED\u003e","video":"7295315058064150241.mp4"}
+{"uid":"2721081256276574981","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up the pen from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7712896024752300598.mp4"}
+{"uid":"16520413093778825890","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please make me a bowl of cereal. last 20 steps: 1- unstack paper bowl 2- put paper cup under snacks machine Q: immediate next step? \u003cPRED\u003eA: put snacks in the paper bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put snacks in the paper bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput snacks in the paper bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please make me a bowl of cereal. last 20 steps: 1- unstack paper bowl 2- put paper cup under snacks machine Q: next 5 steps? \u003cPRED\u003eA: 1- put snacks in the paper bowl 2- put paper bowl on the table 3- put spoon in the paper bowl 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput snacks in the paper bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please make me a bowl of cereal Q: immediate next step? \u003cPRED\u003eA: put snacks in the paper bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put snacks in the paper bowl\n\u003c/PRED\u003e","video":"10504522776509287181.mp4"}
+{"uid":"9816824297385166747","text":"\u003ctask:success:discrete:False\u003e\nRelease the tetra pack bottle Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: load items from the box into the cart. last 20 steps: 1- Move your arm towards the cartoon box 2- Grab a glass 3- Lift up the glass 4- Release the glass in the trolley 5- Move towards the cartoon box 6- Grab the glass 7- Pick up the glass 8- Drop the glass in the trolley 9- Move your arm close to the cartoon box 10- Grab the coconut tetra pack bottle 11- Lift up the coconut tetra pack bottle Q: immediate next step? \u003cPRED\u003eA: Release the tetra pack bottle\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nRelease the tetra pack bottle Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: load items from the box into the cart Q: immediate next step? \u003cPRED\u003eA: Release the tetra pack bottle\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: load items from the box into the cart. last 20 steps: 1- Move your arm towards the cartoon box 2- Grab a glass 3- Lift up the glass 4- Release the glass in the trolley 5- Move towards the cartoon box 6- Grab the glass 7- Pick up the glass 8- Drop the glass in the trolley 9- Move your arm close to the cartoon box 10- Grab the coconut tetra pack bottle 11- Lift up the coconut tetra pack bottle Q: next 5 steps? \u003cPRED\u003eA: 1- Release the tetra pack bottle 2- Move your arm close to the coconut tetra pack bottle 3- Grab the coconut tetra pack bottle 4- Release the coconut tetra pack bottle in the trolley 5- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Release the tetra pack bottle\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Release the tetra pack bottle\n\u003c/PRED\u003e","video":"16446285425460671898.mp4"}
+{"uid":"13315371107237431977","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: unstack paper bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nunstack paper bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4413906676715003471.mp4"}
+{"uid":"8161098021101571122","text":"\u003ctask:success:discrete:True\u003e\nopen the refrigerator door Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: open the refrigerator door\n\u003c/PRED\u003e","video":"4641002934713704317.mp4"}
+{"uid":"12491216562339292493","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Lift up the glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nLift up the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: load items from the box into the cart. last 20 steps: 1- Move your arm towards the cartoon box Q: next 5 steps? \u003cPRED\u003eA: 1- Lift up the glass 2- Move towards the cartoon box 3- Grab the glass 4- Pick up the glass 5- Drop the glass in the trolley\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: load items from the box into the cart. last 20 steps: 1- Move your arm towards the cartoon box Q: immediate next step? \u003cPRED\u003eA: Lift up the glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nLift up the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Lift up the glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: load items from the box into the cart Q: immediate next step? \u003cPRED\u003eA: Lift up the glass\n\u003c/PRED\u003e","video":"6154297091694191484.mp4"}
+{"uid":"14494780856223847950","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace instant oatmeal pack on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10795085776601377273.mp4"}
+{"uid":"12769492705856839624","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put redbull can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I am thirsty can you get me a redbull from Mk fridge to my desk. last 20 steps: 1- open the refrigerator door 2- pick up redbull can Q: next 5 steps? \u003cPRED\u003eA: 1- put redbull can on the table 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I am thirsty can you get me a redbull from Mk fridge to my desk. last 20 steps: 1- open the refrigerator door 2- pick up redbull can Q: immediate next step? \u003cPRED\u003eA: put redbull can on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput redbull can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I am thirsty can you get me a redbull from Mk fridge to my desk Q: immediate next step? \u003cPRED\u003eA: put redbull can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput redbull can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put redbull can on the table\n\u003c/PRED\u003e","video":"6074380874528562115.mp4"}
+{"uid":"17104495020885157326","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: load items from the box into the cart. last 20 steps: 1- Move your arm towards the cartoon box 2- Grab a glass 3- Lift up the glass 4- Release the glass in the trolley 5- Move towards the cartoon box 6- Grab the glass Q: next 5 steps? \u003cPRED\u003eA: 1- Drop the glass in the trolley 2- Move your arm close to the cartoon box 3- Grab the coconut tetra pack bottle 4- Lift up the coconut tetra pack bottle 5- Release the tetra pack bottle\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrop the glass in the trolley Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: load items from the box into the cart Q: immediate next step? \u003cPRED\u003eA: Drop the glass in the trolley\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop the glass in the trolley Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop the glass in the trolley\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: load items from the box into the cart. last 20 steps: 1- Move your arm towards the cartoon box 2- Grab a glass 3- Lift up the glass 4- Release the glass in the trolley 5- Move towards the cartoon box 6- Grab the glass Q: immediate next step? \u003cPRED\u003eA: Drop the glass in the trolley\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop the glass in the trolley\n\u003c/PRED\u003e","video":"2496625383745433251.mp4"}
+{"uid":"6569705825072414260","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput can in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7028581738285338364.mp4"}
+{"uid":"14127609056157426052","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nRelease the glass in the trolley Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Release the glass in the trolley\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: load items from the box into the cart. last 20 steps: 1- Move your arm towards the cartoon box 2- Grab a glass Q: immediate next step? \u003cPRED\u003eA: Release the glass in the trolley\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: load items from the box into the cart Q: immediate next step? \u003cPRED\u003eA: Release the glass in the trolley\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Release the glass in the trolley\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nRelease the glass in the trolley Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: load items from the box into the cart. last 20 steps: 1- Move your arm towards the cartoon box 2- Grab a glass Q: next 5 steps? \u003cPRED\u003eA: 1- Release the glass in the trolley 2- Grab the glass 3- Pick up the glass 4- Drop the glass in the trolley 5- Move your arm close to the cartoon box\n\u003c/PRED\u003e","video":"176240833461561311.mp4"}
+{"uid":"5645418780963636635","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nadd the pebbles to the paper bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4215761963487368395.mp4"}
+{"uid":"4009441018511182405","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I am thirsty can you get me a redbull from Mk fridge to my desk. last 20 steps: 1- open the refrigerator door 2- pick up redbull can 3- put redbull can on the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I am thirsty can you get me a redbull from Mk fridge to my desk Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I am thirsty can you get me a redbull from Mk fridge to my desk. last 20 steps: 1- open the refrigerator door 2- pick up redbull can 3- put redbull can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput redbull can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put redbull can on the table\n\u003c/PRED\u003e","video":"9792701924013780908.mp4"}
+{"uid":"2929123681038166867","text":"\u003ctask:success:discrete:False\u003e\nput paper bowl on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please make me a bowl of cereal. last 20 steps: 1- unstack paper bowl 2- put paper cup under snacks machine 3- put snacks in the paper bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put paper bowl on the table 2- put spoon in the paper bowl 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput paper bowl on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put paper bowl on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please make me a bowl of cereal. last 20 steps: 1- unstack paper bowl 2- put paper cup under snacks machine 3- put snacks in the paper bowl Q: immediate next step? \u003cPRED\u003eA: put paper bowl on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put paper bowl on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please make me a bowl of cereal Q: immediate next step? \u003cPRED\u003eA: put paper bowl on the table\n\u003c/PRED\u003e","video":"5436273061775820194.mp4"}
+{"uid":"11317792346949731737","text":"\u003ctask:success:discrete:True\u003e\nMove your arm close to the coconut tetra pack bottle Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Move your arm close to the coconut tetra pack bottle\n\u003c/PRED\u003e","video":"9078420919758998887.mp4"}
+{"uid":"13622561370114409026","text":"\u003ctask:success:discrete:False\u003e\nput paper cup under snacks machine Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please make me a bowl of cereal Q: immediate next step? \u003cPRED\u003eA: put paper cup under snacks machine\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put paper cup under snacks machine\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put paper cup under snacks machine\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput paper cup under snacks machine Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please make me a bowl of cereal. last 20 steps: 1- unstack paper bowl Q: immediate next step? \u003cPRED\u003eA: put paper cup under snacks machine\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please make me a bowl of cereal. last 20 steps: 1- unstack paper bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put paper cup under snacks machine 2- put snacks in the paper bowl 3- put paper bowl on the table 4- put spoon in the paper bowl 5- done\n\u003c/PRED\u003e","video":"6323074083184711307.mp4"}
+{"uid":"5538931981293758766","text":"\u003ctask:success:discrete:True\u003e\nDrop the glass in the trolley Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Drop the glass in the trolley\n\u003c/PRED\u003e","video":"9792876885455278231.mp4"}
+{"uid":"1762466881398995958","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put snacks in the paper bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput snacks in the paper bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16090326290764415523.mp4"}
+{"uid":"17214323874546277021","text":"\u003ctask:success:discrete:True\u003e\nPick up the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Pick up the glass\n\u003c/PRED\u003e","video":"7123908883539171764.mp4"}
+{"uid":"1544950830684174802","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove towards the small orange pack Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13949814479385282270.mp4"}
+{"uid":"1014777666771303264","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: load items from the box into the cart. last 20 steps: 1- Move your arm towards the cartoon box 2- Grab a glass 3- Lift up the glass 4- Release the glass in the trolley 5- Move towards the cartoon box 6- Grab the glass 7- Pick up the glass 8- Drop the glass in the trolley 9- Move your arm close to the cartoon box 10- Grab the coconut tetra pack bottle 11- Lift up the coconut tetra pack bottle 12- Release the tetra pack bottle 13- Move your arm close to the coconut tetra pack bottle 14- Grab the coconut tetra pack bottle 15- Release the coconut tetra pack bottle in the trolley Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: load items from the box into the cart. last 20 steps: 1- Move your arm towards the cartoon box 2- Grab a glass 3- Lift up the glass 4- Release the glass in the trolley 5- Move towards the cartoon box 6- Grab the glass 7- Pick up the glass 8- Drop the glass in the trolley 9- Move your arm close to the cartoon box 10- Grab the coconut tetra pack bottle 11- Lift up the coconut tetra pack bottle 12- Release the tetra pack bottle 13- Move your arm close to the coconut tetra pack bottle 14- Grab the coconut tetra pack bottle 15- Release the coconut tetra pack bottle in the trolley Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: load items from the box into the cart Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Release the coconut tetra pack bottle in the trolley\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nRelease the coconut tetra pack bottle in the trolley Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10423199846156592720.mp4"}
+{"uid":"7483370802783587572","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Grab the glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: load items from the box into the cart. last 20 steps: 1- Move your arm towards the cartoon box 2- Grab a glass 3- Lift up the glass 4- Release the glass in the trolley 5- Move towards the cartoon box Q: next 5 steps? \u003cPRED\u003eA: 1- Grab the glass 2- Drop the glass in the trolley 3- Move your arm close to the cartoon box 4- Grab the coconut tetra pack bottle 5- Lift up the coconut tetra pack bottle\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: load items from the box into the cart Q: immediate next step? \u003cPRED\u003eA: Grab the glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: load items from the box into the cart. last 20 steps: 1- Move your arm towards the cartoon box 2- Grab a glass 3- Lift up the glass 4- Release the glass in the trolley 5- Move towards the cartoon box Q: immediate next step? \u003cPRED\u003eA: Grab the glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Grab the glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nGrab the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nGrab the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1602732797881237112.mp4"}
+{"uid":"6671408062389016638","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the numi box on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12528958726487165024.mp4"}
+{"uid":"283466996890401932","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8102132706104675814.mp4"}
+{"uid":"6492962275590690691","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: load items from the box into the cart. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Grab a glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Grab a glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: load items from the box into the cart Q: immediate next step? \u003cPRED\u003eA: Grab a glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nGrab a glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Grab a glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: load items from the box into the cart. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Grab a glass 2- Release the glass in the trolley 3- Move towards the cartoon box 4- Grab the glass 5- Pick up the glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nGrab a glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12631992014146821193.mp4"}
+{"uid":"11576918983651078568","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the pen on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3094343753037813225.mp4"}
+{"uid":"2995656776403906809","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the 2 paper clip in the paper bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6526855287628414068.mp4"}
+{"uid":"13899579789755953971","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the black object on the connector Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7625019768192969705.mp4"}
+{"uid":"7286680684369240861","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nlift the orange object from the top left drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9117305318532314756.mp4"}
+{"uid":"11841443221032312872","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick the pen from table and place it in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13183087657908225792.mp4"}
+{"uid":"13395175126753346360","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the  packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3281583629753765707.mp4"}
+{"uid":"16514814830469388663","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the red bull can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11972972279272971394.mp4"}
+{"uid":"4568945535181661435","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: I am thirsty can you get me a redbull from Mk fridge to my desk Q: immediate next step? \u003cPRED\u003eA: pick up redbull can\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I am thirsty can you get me a redbull from Mk fridge to my desk. last 20 steps: 1- open the refrigerator door Q: immediate next step? \u003cPRED\u003eA: pick up redbull can\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up redbull can\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up redbull can Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up redbull can Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up redbull can\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I am thirsty can you get me a redbull from Mk fridge to my desk. last 20 steps: 1- open the refrigerator door Q: next 5 steps? \u003cPRED\u003eA: 1- pick up redbull can 2- put redbull can on the table 3- done\n\u003c/PRED\u003e","video":"8541493216001981922.mp4"}
+{"uid":"15168444059674771152","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please make me a bowl of cereal. last 20 steps: 1- unstack paper bowl 2- put paper cup under snacks machine 3- put snacks in the paper bowl 4- put paper bowl on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put spoon in the paper bowl 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput spoon in the paper bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput spoon in the paper bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please make me a bowl of cereal Q: immediate next step? \u003cPRED\u003eA: put spoon in the paper bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put spoon in the paper bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put spoon in the paper bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please make me a bowl of cereal. last 20 steps: 1- unstack paper bowl 2- put paper cup under snacks machine 3- put snacks in the paper bowl 4- put paper bowl on the table Q: immediate next step? \u003cPRED\u003eA: put spoon in the paper bowl\n\u003c/PRED\u003e","video":"785097374472014208.mp4"}
+{"uid":"6223792869374805766","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the can on the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15860461821321329487.mp4"}
+{"uid":"18080709625786697629","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Lift up the coconut tetra pack bottle\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Lift up the coconut tetra pack bottle\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nLift up the coconut tetra pack bottle Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: load items from the box into the cart Q: immediate next step? \u003cPRED\u003eA: Lift up the coconut tetra pack bottle\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nLift up the coconut tetra pack bottle Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: load items from the box into the cart. last 20 steps: 1- Move your arm towards the cartoon box 2- Grab a glass 3- Lift up the glass 4- Release the glass in the trolley 5- Move towards the cartoon box 6- Grab the glass 7- Pick up the glass 8- Drop the glass in the trolley 9- Move your arm close to the cartoon box Q: next 5 steps? \u003cPRED\u003eA: 1- Lift up the coconut tetra pack bottle 2- Release the tetra pack bottle 3- Move your arm close to the coconut tetra pack bottle 4- Grab the coconut tetra pack bottle 5- Release the coconut tetra pack bottle in the trolley\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: load items from the box into the cart. last 20 steps: 1- Move your arm towards the cartoon box 2- Grab a glass 3- Lift up the glass 4- Release the glass in the trolley 5- Move towards the cartoon box 6- Grab the glass 7- Pick up the glass 8- Drop the glass in the trolley 9- Move your arm close to the cartoon box Q: immediate next step? \u003cPRED\u003eA: Lift up the coconut tetra pack bottle\n\u003c/PRED\u003e","video":"4576726377125568041.mp4"}
+{"uid":"3513043996505904172","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Move towards the cartoon box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nMove towards the cartoon box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3633163835291924739.mp4"}
+{"uid":"10732889617079932457","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the pip corn packets on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11511805567419558974.mp4"}
+{"uid":"17756270058409564882","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the candy in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15149341442777824039.mp4"}
+{"uid":"3544265051873485862","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput red pen on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1119371941027946219.mp4"}
+{"uid":"17263072276805778260","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I am thirsty can you get me a redbull from Mk fridge to my desk. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- open the refrigerator door 2- pick up redbull can 3- put redbull can on the table 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nopen the refrigerator door Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nopen the refrigerator door Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open the refrigerator door\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open the refrigerator door\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I am thirsty can you get me a redbull from Mk fridge to my desk Q: immediate next step? \u003cPRED\u003eA: open the refrigerator door\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I am thirsty can you get me a redbull from Mk fridge to my desk. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: open the refrigerator door\n\u003c/PRED\u003e","video":"4400921474306010544.mp4"}
+{"uid":"17058068149650450380","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nRelease the coconut tetra pack bottle in the trolley Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: load items from the box into the cart. last 20 steps: 1- Move your arm towards the cartoon box 2- Grab a glass 3- Lift up the glass 4- Release the glass in the trolley 5- Move towards the cartoon box 6- Grab the glass 7- Pick up the glass 8- Drop the glass in the trolley 9- Move your arm close to the cartoon box 10- Grab the coconut tetra pack bottle 11- Lift up the coconut tetra pack bottle 12- Release the tetra pack bottle 13- Move your arm close to the coconut tetra pack bottle 14- Grab the coconut tetra pack bottle Q: immediate next step? \u003cPRED\u003eA: Release the coconut tetra pack bottle in the trolley\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: load items from the box into the cart Q: immediate next step? \u003cPRED\u003eA: Release the coconut tetra pack bottle in the trolley\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Release the coconut tetra pack bottle in the trolley\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nRelease the coconut tetra pack bottle in the trolley Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: load items from the box into the cart. last 20 steps: 1- Move your arm towards the cartoon box 2- Grab a glass 3- Lift up the glass 4- Release the glass in the trolley 5- Move towards the cartoon box 6- Grab the glass 7- Pick up the glass 8- Drop the glass in the trolley 9- Move your arm close to the cartoon box 10- Grab the coconut tetra pack bottle 11- Lift up the coconut tetra pack bottle 12- Release the tetra pack bottle 13- Move your arm close to the coconut tetra pack bottle 14- Grab the coconut tetra pack bottle Q: next 5 steps? \u003cPRED\u003eA: 1- Release the coconut tetra pack bottle in the trolley 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Release the coconut tetra pack bottle in the trolley\n\u003c/PRED\u003e","video":"9855095191900272561.mp4"}
+{"uid":"12412673522634435567","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the coffee cup into the trash\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put the coffee cup into the trash\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the coffee cup into the trash\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the coffee cup into the trash Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put the coffee cup into the trash 2- Put the paper glass into the dustbin 3- Put the crushed paper into the dustbin 4- put the brownie packet into the glass jar 5- Put the blue packet into the glass jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar Q: immediate next step? \u003cPRED\u003eA: put the coffee cup into the trash\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the coffee cup into the trash Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3309367062204126197.mp4"}
+{"uid":"11541736408709471512","text":"\u003ctask:success:discrete:True\u003e\nput brown cloth on dust bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put brown cloth on dust bin\n\u003c/PRED\u003e","video":"8802986019433750762.mp4"}
+{"uid":"11074489572226353159","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick the brush Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9420213941486338845.mp4"}
+{"uid":"4115194730672592766","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the brownie packet into the glass jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- Put the paper glass into the dustbin 2- Put the paper glass into the dustbin 3- Put the crushed paper into the dustbin 4- put the brownie packet into the glass jar 5- Put the blue packet into the glass jar Q: next 5 steps? \u003cPRED\u003eA: 1- put the brownie packet into the glass jar 2- put the brownie packet into the glass jar 3- put the white packet into the glass jar 4- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the brownie packet into the glass jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the brownie packet into the glass jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the brownie packet into the glass jar\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- Put the paper glass into the dustbin 2- Put the paper glass into the dustbin 3- Put the crushed paper into the dustbin 4- put the brownie packet into the glass jar 5- Put the blue packet into the glass jar Q: immediate next step? \u003cPRED\u003eA: put the brownie packet into the glass jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar Q: immediate next step? \u003cPRED\u003eA: put the brownie packet into the glass jar\n\u003c/PRED\u003e","video":"13067454305660444211.mp4"}
+{"uid":"9353850547628245176","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- Put the paper glass into the dustbin 2- Put the paper glass into the dustbin 3- Put the crushed paper into the dustbin 4- put the brownie packet into the glass jar 5- Put the blue packet into the glass jar 6- put the brownie packet into the glass jar 7- put the brownie packet into the glass jar 8- put the white packet into the glass jar Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the white packet into the glass jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- Put the paper glass into the dustbin 2- Put the paper glass into the dustbin 3- Put the crushed paper into the dustbin 4- put the brownie packet into the glass jar 5- Put the blue packet into the glass jar 6- put the brownie packet into the glass jar 7- put the brownie packet into the glass jar 8- put the white packet into the glass jar Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the white packet into the glass jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14398484663932381812.mp4"}
+{"uid":"4524067671703295101","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put cup in dust bin\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput cup in dust bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9977269673450067854.mp4"}
+{"uid":"13947517831940433255","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put white packet in glass jar\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- Put the paper glass into the dustbin 2- Put the paper glass into the dustbin 3- Put the crushed paper into the dustbin 4- put the brownie packet into the glass jar 5- Put the blue packet into the glass jar 6- put the brownie packet into the glass jar 7- put the brownie packet into the glass jar 8- put white packet in glass jar Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput white packet in glass jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- Put the paper glass into the dustbin 2- Put the paper glass into the dustbin 3- Put the crushed paper into the dustbin 4- put the brownie packet into the glass jar 5- Put the blue packet into the glass jar 6- put the brownie packet into the glass jar 7- put the brownie packet into the glass jar 8- put white packet in glass jar Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"3658329728454924588.mp4"}
+{"uid":"5470301103348568432","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the black object into the carton box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14374109960181780918.mp4"}
+{"uid":"12806172282545100328","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the sugar packet in the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4553605279557421770.mp4"}
+{"uid":"3651954179904470147","text":"\u003ctask:success:discrete:False\u003e\nPut the paper glass into the dustbin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Put the paper glass into the dustbin\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar Q: immediate next step? \u003cPRED\u003eA: Put the paper glass into the dustbin\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the paper glass into the dustbin\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the paper glass into the dustbin\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Put the paper glass into the dustbin 2- Put the paper glass into the dustbin 3- Put the crushed paper into the dustbin 4- put the brownie packet into the glass jar 5- Put the blue packet into the glass jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the paper glass into the dustbin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15549056389839150912.mp4"}
+{"uid":"17763204365356436873","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- Put the paper glass into the dustbin 2- Put the paper glass into the dustbin 3- Put the crushed paper into the dustbin 4- put the brownie packet into the glass jar 5- Put the blue packet into the glass jar 6- put the brownie packet into the glass jar 7- put the brownie packet into the glass jar Q: next 5 steps? \u003cPRED\u003eA: 1- put white packet in glass jar 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar Q: immediate next step? \u003cPRED\u003eA: put white packet in glass jar\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put white packet in glass jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput white packet in glass jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put white packet in glass jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput white packet in glass jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- Put the paper glass into the dustbin 2- Put the paper glass into the dustbin 3- Put the crushed paper into the dustbin 4- put the brownie packet into the glass jar 5- Put the blue packet into the glass jar 6- put the brownie packet into the glass jar 7- put the brownie packet into the glass jar Q: immediate next step? \u003cPRED\u003eA: put white packet in glass jar\n\u003c/PRED\u003e","video":"18230312725776991473.mp4"}
+{"uid":"14180787811643481872","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the candy in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11010582289857738696.mp4"}
+{"uid":"11407612564335722326","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the paper glass into the dustbin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar Q: immediate next step? \u003cPRED\u003eA: Put the paper glass into the dustbin\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- Put the paper glass into the dustbin Q: immediate next step? \u003cPRED\u003eA: Put the paper glass into the dustbin\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the paper glass into the dustbin\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- Put the paper glass into the dustbin Q: next 5 steps? \u003cPRED\u003eA: 1- Put the paper glass into the dustbin 2- Put the crushed paper into the dustbin 3- put the brownie packet into the glass jar 4- Put the blue packet into the glass jar 5- put the brownie packet into the glass jar\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the paper glass into the dustbin\n\u003c/PRED\u003e","video":"9725337774450022474.mp4"}
+{"uid":"8723802907604043659","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pen in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3814500061110691025.mp4"}
+{"uid":"17459451898622453748","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the blue packet into the jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the blue packet into the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the blue packet into the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the blue packet into the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- Put the paper glass into the dustbin 2- Put the paper glass into the dustbin 3- Put the crushed paper into the dustbin 4- put the brownie packet into the glass jar Q: next 5 steps? \u003cPRED\u003eA: 1- place the blue packet into the jar 2- put the brownie packet into the glass jar 3- put the brownie packet into the glass jar 4- put the white packet into the glass jar 5- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- Put the paper glass into the dustbin 2- Put the paper glass into the dustbin 3- Put the crushed paper into the dustbin 4- put the brownie packet into the glass jar Q: immediate next step? \u003cPRED\u003eA: place the blue packet into the jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar Q: immediate next step? \u003cPRED\u003eA: place the blue packet into the jar\n\u003c/PRED\u003e","video":"3667613519949670504.mp4"}
+{"uid":"13244986937846956384","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the sticky notes in  a tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5526712193073930456.mp4"}
+{"uid":"16750992082127410493","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up the hint bottle from the table. Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1852886350412614058.mp4"}
+{"uid":"13181008951231147147","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- Put the paper glass into the dustbin Q: immediate next step? \u003cPRED\u003eA: put cup in dust bin\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put cup in dust bin\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput cup in dust bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar Q: immediate next step? \u003cPRED\u003eA: put cup in dust bin\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put cup in dust bin\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput cup in dust bin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- Put the paper glass into the dustbin Q: next 5 steps? \u003cPRED\u003eA: 1- put cup in dust bin 2- Put the crushed paper into the dustbin 3- put the brownie packet into the glass jar 4- Put the blue packet into the glass jar 5- put the brownie packet into the glass jar\n\u003c/PRED\u003e","video":"10901403516875907952.mp4"}
+{"uid":"10381582788832814416","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput chocolate on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6769269489245665830.mp4"}
+{"uid":"9494086851432812132","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the red pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14315150220128478356.mp4"}
+{"uid":"293188060435012752","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the paper glass into the dustbin\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the paper glass into the dustbin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16341768548985083853.mp4"}
+{"uid":"17372946483088949107","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the brownie packet into the glass jar\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the brownie packet into the glass jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15760155804093835280.mp4"}
+{"uid":"10258870517878039073","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the brownie packet into the glass jar\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the brownie packet into the glass jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar Q: immediate next step? \u003cPRED\u003eA: put the brownie packet into the glass jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- Put the paper glass into the dustbin 2- Put the paper glass into the dustbin 3- Put the crushed paper into the dustbin 4- put the brownie packet into the glass jar 5- Put the blue packet into the glass jar 6- put the brownie packet into the glass jar Q: next 5 steps? \u003cPRED\u003eA: 1- put the brownie packet into the glass jar 2- put the white packet into the glass jar 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the brownie packet into the glass jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- Put the paper glass into the dustbin 2- Put the paper glass into the dustbin 3- Put the crushed paper into the dustbin 4- put the brownie packet into the glass jar 5- Put the blue packet into the glass jar 6- put the brownie packet into the glass jar Q: immediate next step? \u003cPRED\u003eA: put the brownie packet into the glass jar\n\u003c/PRED\u003e","video":"14945496189329287915.mp4"}
+{"uid":"5761590814551820345","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- Put the paper glass into the dustbin 2- Put the paper glass into the dustbin 3- Put the crushed paper into the dustbin Q: immediate next step? \u003cPRED\u003eA: put the brownie packet into the glass jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar Q: immediate next step? \u003cPRED\u003eA: put the brownie packet into the glass jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the brownie packet into the glass jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- Put the paper glass into the dustbin 2- Put the paper glass into the dustbin 3- Put the crushed paper into the dustbin Q: next 5 steps? \u003cPRED\u003eA: 1- put the brownie packet into the glass jar 2- Put the blue packet into the glass jar 3- put the brownie packet into the glass jar 4- put the brownie packet into the glass jar 5- put the white packet into the glass jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the brownie packet into the glass jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the brownie packet into the glass jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the brownie packet into the glass jar\n\u003c/PRED\u003e","video":"14778990509536183569.mp4"}
+{"uid":"16020831810522201010","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput cup in drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9316703497228131371.mp4"}
+{"uid":"8185544990179515536","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put white packet in glass jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput white packet in glass jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput white packet in glass jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put white packet in glass jar\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- Put the paper glass into the dustbin 2- Put the paper glass into the dustbin 3- Put the crushed paper into the dustbin 4- put the brownie packet into the glass jar 5- Put the blue packet into the glass jar Q: immediate next step? \u003cPRED\u003eA: put white packet in glass jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- Put the paper glass into the dustbin 2- Put the paper glass into the dustbin 3- Put the crushed paper into the dustbin 4- put the brownie packet into the glass jar 5- Put the blue packet into the glass jar Q: next 5 steps? \u003cPRED\u003eA: 1- put white packet in glass jar 2- put the brownie packet into the glass jar 3- put the white packet into the glass jar 4- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar Q: immediate next step? \u003cPRED\u003eA: put white packet in glass jar\n\u003c/PRED\u003e","video":"16257779542375661726.mp4"}
+{"uid":"1729830869540078884","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPutting the two books in second row Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13254664315359355674.mp4"}
+{"uid":"7441032582282810104","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput apple in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"95520494025366051.mp4"}
+{"uid":"877737674595707624","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput tea box on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15300428607295301565.mp4"}
+{"uid":"2941540667547487355","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nkeep the juice bottle in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18213746183323726814.mp4"}
+{"uid":"387298346495559308","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- Put the paper glass into the dustbin Q: immediate next step? \u003cPRED\u003eA: put the coffee cup into the trash\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the coffee cup into the trash\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar Q: immediate next step? \u003cPRED\u003eA: put the coffee cup into the trash\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the coffee cup into the trash Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the coffee cup into the trash\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the coffee cup into the trash Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- Put the paper glass into the dustbin Q: next 5 steps? \u003cPRED\u003eA: 1- put the coffee cup into the trash 2- Put the crushed paper into the dustbin 3- put the brownie packet into the glass jar 4- Put the blue packet into the glass jar 5- put the brownie packet into the glass jar\n\u003c/PRED\u003e","video":"8105013248801956225.mp4"}
+{"uid":"15505255139399097772","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- Put the paper glass into the dustbin 2- Put the paper glass into the dustbin 3- Put the crushed paper into the dustbin 4- put the brownie packet into the glass jar 5- Put the blue packet into the glass jar 6- put the brownie packet into the glass jar 7- put the brownie packet into the glass jar 8- put the yellow packet into the jar Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the yellow packet into the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the yellow packet into the jar\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- Put the paper glass into the dustbin 2- Put the paper glass into the dustbin 3- Put the crushed paper into the dustbin 4- put the brownie packet into the glass jar 5- Put the blue packet into the glass jar 6- put the brownie packet into the glass jar 7- put the brownie packet into the glass jar 8- put the yellow packet into the jar Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"12849300624707545467.mp4"}
+{"uid":"18046991473053054620","text":"\u003ctask:success:discrete:True\u003e\nput the brownie packet into the glass jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the brownie packet into the glass jar\n\u003c/PRED\u003e","video":"13115458626777876554.mp4"}
+{"uid":"12792238466740867208","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the paper into the trash\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the paper into the trash Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10701090453925804641.mp4"}
+{"uid":"14850456120694304941","text":"\u003ctask:success:discrete:True\u003e\nPut the blue packet into the glass jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the blue packet into the glass jar\n\u003c/PRED\u003e","video":"13863355986692359302.mp4"}
+{"uid":"11012826985602243228","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- Put the paper glass into the dustbin 2- Put the paper glass into the dustbin 3- Put the crushed paper into the dustbin Q: next 5 steps? \u003cPRED\u003eA: 1- put white packet in glass jar 2- Put the blue packet into the glass jar 3- put the brownie packet into the glass jar 4- put the brownie packet into the glass jar 5- put the white packet into the glass jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put white packet in glass jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput white packet in glass jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- Put the paper glass into the dustbin 2- Put the paper glass into the dustbin 3- Put the crushed paper into the dustbin Q: immediate next step? \u003cPRED\u003eA: put white packet in glass jar\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put white packet in glass jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar Q: immediate next step? \u003cPRED\u003eA: put white packet in glass jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput white packet in glass jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11892777881705663487.mp4"}
+{"uid":"10167879200491467857","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace snacks packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"274563696432243886.mp4"}
+{"uid":"15551553637241207600","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the coffee cup into the trash\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the coffee cup into the trash Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2330293294111153665.mp4"}
+{"uid":"11477343426885985714","text":"\u003ctask:success:discrete:True\u003e\nput the coffee cup into the trash Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the coffee cup into the trash\n\u003c/PRED\u003e","video":"18061874759760949892.mp4"}
+{"uid":"1313541390327386535","text":"\u003ctask:success:discrete:False\u003e\nPut the crushed paper into the dustbin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar Q: immediate next step? \u003cPRED\u003eA: Put the crushed paper into the dustbin\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the crushed paper into the dustbin\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the crushed paper into the dustbin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- Put the paper glass into the dustbin 2- Put the paper glass into the dustbin Q: next 5 steps? \u003cPRED\u003eA: 1- Put the crushed paper into the dustbin 2- put the brownie packet into the glass jar 3- Put the blue packet into the glass jar 4- put the brownie packet into the glass jar 5- put the brownie packet into the glass jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the crushed paper into the dustbin\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- Put the paper glass into the dustbin 2- Put the paper glass into the dustbin Q: immediate next step? \u003cPRED\u003eA: Put the crushed paper into the dustbin\n\u003c/PRED\u003e","video":"246804591286733366.mp4"}
+{"uid":"2268568295868546325","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nwrite on a sticky note Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16990465929664098017.mp4"}
+{"uid":"11775631504279092407","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\narrange apple on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7369049086249474507.mp4"}
+{"uid":"3680680241795139387","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- Put the paper glass into the dustbin 2- Put the paper glass into the dustbin 3- Put the crushed paper into the dustbin 4- put the brownie packet into the glass jar Q: next 5 steps? \u003cPRED\u003eA: 1- Put the blue packet into the glass jar 2- put the brownie packet into the glass jar 3- put the brownie packet into the glass jar 4- put the white packet into the glass jar 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the blue packet into the glass jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- Put the paper glass into the dustbin 2- Put the paper glass into the dustbin 3- Put the crushed paper into the dustbin 4- put the brownie packet into the glass jar Q: immediate next step? \u003cPRED\u003eA: Put the blue packet into the glass jar\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the blue packet into the glass jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the blue packet into the glass jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the blue packet into the glass jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar Q: immediate next step? \u003cPRED\u003eA: Put the blue packet into the glass jar\n\u003c/PRED\u003e","video":"2911868819605580941.mp4"}
+{"uid":"9772938561983509125","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- Put the paper glass into the dustbin 2- Put the paper glass into the dustbin 3- Put the crushed paper into the dustbin 4- put the brownie packet into the glass jar 5- Put the blue packet into the glass jar 6- put the brownie packet into the glass jar Q: next 5 steps? \u003cPRED\u003eA: 1- put white packet in glass jar 2- put the white packet into the glass jar 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put white packet in glass jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar Q: immediate next step? \u003cPRED\u003eA: put white packet in glass jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput white packet in glass jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- Put the paper glass into the dustbin 2- Put the paper glass into the dustbin 3- Put the crushed paper into the dustbin 4- put the brownie packet into the glass jar 5- Put the blue packet into the glass jar 6- put the brownie packet into the glass jar Q: immediate next step? \u003cPRED\u003eA: put white packet in glass jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput white packet in glass jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put white packet in glass jar\n\u003c/PRED\u003e","video":"3435129579123975446.mp4"}
+{"uid":"234674840122129396","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the pen in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7112961355000155644.mp4"}
+{"uid":"8280248760637716907","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput packet on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14036031704060057941.mp4"}
+{"uid":"16439959906950600852","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the packet into the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the packet into the jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar Q: immediate next step? \u003cPRED\u003eA: place the packet into the jar\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the packet into the jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- Put the paper glass into the dustbin 2- Put the paper glass into the dustbin 3- Put the crushed paper into the dustbin 4- put the brownie packet into the glass jar 5- Put the blue packet into the glass jar 6- put the brownie packet into the glass jar Q: next 5 steps? \u003cPRED\u003eA: 1- place the packet into the jar 2- put the white packet into the glass jar 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- Put the paper glass into the dustbin 2- Put the paper glass into the dustbin 3- Put the crushed paper into the dustbin 4- put the brownie packet into the glass jar 5- Put the blue packet into the glass jar 6- put the brownie packet into the glass jar Q: immediate next step? \u003cPRED\u003eA: place the packet into the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the packet into the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11240529713621480154.mp4"}
+{"uid":"7990229970112200477","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the paper glass into the dustbin\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the paper glass into the dustbin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12720529344234645991.mp4"}
+{"uid":"15834812322076401950","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the sugar packet in the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14210201041753546728.mp4"}
+{"uid":"16398316669159923874","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar Q: immediate next step? \u003cPRED\u003eA: put the white packet into the glass jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the white packet into the glass jar\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- Put the paper glass into the dustbin 2- Put the paper glass into the dustbin 3- Put the crushed paper into the dustbin 4- put the brownie packet into the glass jar 5- Put the blue packet into the glass jar 6- put the brownie packet into the glass jar 7- put the brownie packet into the glass jar Q: immediate next step? \u003cPRED\u003eA: put the white packet into the glass jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the white packet into the glass jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the white packet into the glass jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- Put the paper glass into the dustbin 2- Put the paper glass into the dustbin 3- Put the crushed paper into the dustbin 4- put the brownie packet into the glass jar 5- Put the blue packet into the glass jar 6- put the brownie packet into the glass jar 7- put the brownie packet into the glass jar Q: next 5 steps? \u003cPRED\u003eA: 1- put the white packet into the glass jar 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the white packet into the glass jar\n\u003c/PRED\u003e","video":"11117481565575366396.mp4"}
+{"uid":"16977636470586742214","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the packet into the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the packet into the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- Put the paper glass into the dustbin 2- Put the paper glass into the dustbin 3- Put the crushed paper into the dustbin Q: immediate next step? \u003cPRED\u003eA: put the packet into the jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the packet into the jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the packet into the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar Q: immediate next step? \u003cPRED\u003eA: put the packet into the jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- Put the paper glass into the dustbin 2- Put the paper glass into the dustbin 3- Put the crushed paper into the dustbin Q: next 5 steps? \u003cPRED\u003eA: 1- put the packet into the jar 2- Put the blue packet into the glass jar 3- put the brownie packet into the glass jar 4- put the brownie packet into the glass jar 5- put the white packet into the glass jar\n\u003c/PRED\u003e","video":"2841153580202686832.mp4"}
+{"uid":"12091936485734274891","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar Q: immediate next step? \u003cPRED\u003eA: put the packet into the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the packet into the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- Put the paper glass into the dustbin 2- Put the paper glass into the dustbin 3- Put the crushed paper into the dustbin 4- put the brownie packet into the glass jar 5- Put the blue packet into the glass jar Q: immediate next step? \u003cPRED\u003eA: put the packet into the jar\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the packet into the jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the packet into the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the packet into the jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- Put the paper glass into the dustbin 2- Put the paper glass into the dustbin 3- Put the crushed paper into the dustbin 4- put the brownie packet into the glass jar 5- Put the blue packet into the glass jar Q: next 5 steps? \u003cPRED\u003eA: 1- put the packet into the jar 2- put the brownie packet into the glass jar 3- put the white packet into the glass jar 4- done\n\u003c/PRED\u003e","video":"6548736680116039905.mp4"}
+{"uid":"17782614871776029757","text":"\u003ctask:success:discrete:False\u003e\nput the paper into the trash Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the paper into the trash Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- Put the paper glass into the dustbin 2- Put the paper glass into the dustbin Q: next 5 steps? \u003cPRED\u003eA: 1- put the paper into the trash 2- put the brownie packet into the glass jar 3- Put the blue packet into the glass jar 4- put the brownie packet into the glass jar 5- put the brownie packet into the glass jar\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the paper into the trash\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- Put the paper glass into the dustbin 2- Put the paper glass into the dustbin Q: immediate next step? \u003cPRED\u003eA: put the paper into the trash\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the paper into the trash\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar Q: immediate next step? \u003cPRED\u003eA: put the paper into the trash\n\u003c/PRED\u003e","video":"1633309224909522125.mp4"}
+{"uid":"3546215100181641852","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the yellow packet into the jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the yellow packet into the jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar Q: immediate next step? \u003cPRED\u003eA: put the yellow packet into the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the yellow packet into the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- Put the paper glass into the dustbin 2- Put the paper glass into the dustbin 3- Put the crushed paper into the dustbin 4- put the brownie packet into the glass jar 5- Put the blue packet into the glass jar 6- put the brownie packet into the glass jar 7- put the brownie packet into the glass jar Q: next 5 steps? \u003cPRED\u003eA: 1- put the yellow packet into the jar 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the yellow packet into the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- Put the paper glass into the dustbin 2- Put the paper glass into the dustbin 3- Put the crushed paper into the dustbin 4- put the brownie packet into the glass jar 5- Put the blue packet into the glass jar 6- put the brownie packet into the glass jar 7- put the brownie packet into the glass jar Q: immediate next step? \u003cPRED\u003eA: put the yellow packet into the jar\n\u003c/PRED\u003e","video":"17580233395613102542.mp4"}
+{"uid":"659485233046862701","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put brown cloth on dust bin\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput brown cloth on dust bin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- Put the paper glass into the dustbin 2- Put the paper glass into the dustbin Q: next 5 steps? \u003cPRED\u003eA: 1- put brown cloth on dust bin 2- put the brownie packet into the glass jar 3- Put the blue packet into the glass jar 4- put the brownie packet into the glass jar 5- put the brownie packet into the glass jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput brown cloth on dust bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar Q: immediate next step? \u003cPRED\u003eA: put brown cloth on dust bin\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- Put the paper glass into the dustbin 2- Put the paper glass into the dustbin Q: immediate next step? \u003cPRED\u003eA: put brown cloth on dust bin\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put brown cloth on dust bin\n\u003c/PRED\u003e","video":"2228840180448035750.mp4"}
+{"uid":"14168905870732319686","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pistachio in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"643481187555604249.mp4"}
+{"uid":"4721272041427988728","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ngo to the white glass. Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18203977748849424910.mp4"}
+{"uid":"10199641525825716157","text":"\u003ctask:success:discrete:True\u003e\nput the brownie packet into the glass jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the brownie packet into the glass jar\n\u003c/PRED\u003e","video":"4497544571941382410.mp4"}
+{"uid":"7771333572158395448","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput orange candy into the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4673643337134735537.mp4"}
+{"uid":"6527120199702845936","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put cup in dust bin\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put cup in dust bin 2- Put the paper glass into the dustbin 3- Put the crushed paper into the dustbin 4- put the brownie packet into the glass jar 5- Put the blue packet into the glass jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar Q: immediate next step? \u003cPRED\u003eA: put cup in dust bin\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput cup in dust bin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put cup in dust bin\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput cup in dust bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put cup in dust bin\n\u003c/PRED\u003e","video":"11852391274885003842.mp4"}
+{"uid":"4549597108962341975","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put blue packet in glass jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar Q: immediate next step? \u003cPRED\u003eA: put blue packet in glass jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput blue packet in glass jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put blue packet in glass jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- Put the paper glass into the dustbin 2- Put the paper glass into the dustbin 3- Put the crushed paper into the dustbin 4- put the brownie packet into the glass jar Q: next 5 steps? \u003cPRED\u003eA: 1- put blue packet in glass jar 2- put the brownie packet into the glass jar 3- put the brownie packet into the glass jar 4- put the white packet into the glass jar 5- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- Put the paper glass into the dustbin 2- Put the paper glass into the dustbin 3- Put the crushed paper into the dustbin 4- put the brownie packet into the glass jar Q: immediate next step? \u003cPRED\u003eA: put blue packet in glass jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput blue packet in glass jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1806074070677613674.mp4"}
+{"uid":"4466804954685404990","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the apple in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6867362691269766291.mp4"}
+{"uid":"15324804748191311518","text":"\u003ctask:success:discrete:True\u003e\nput cup in dust bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put cup in dust bin\n\u003c/PRED\u003e","video":"3816979349421793681.mp4"}
+{"uid":"10880497305037844736","text":"\u003ctask:success:discrete:True\u003e\nPut the crushed paper into the dustbin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the crushed paper into the dustbin\n\u003c/PRED\u003e","video":"2628796588439880909.mp4"}
+{"uid":"7557366850458552269","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you throw trash from my desk while coming back get me a pen and notepad from printer room. last 20 steps: 1- pick up the trash 2- put the trash in the dustbin 3- place the sticky note on the table 4- place the pen on sticky note 5- pick up the sticky note Q: immediate next step? \u003cPRED\u003eA: place the sticky note on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the sticky note on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the sticky note on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you throw trash from my desk while coming back get me a pen and notepad from printer room Q: immediate next step? \u003cPRED\u003eA: place the sticky note on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the sticky note on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the sticky note on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you throw trash from my desk while coming back get me a pen and notepad from printer room. last 20 steps: 1- pick up the trash 2- put the trash in the dustbin 3- place the sticky note on the table 4- place the pen on sticky note 5- pick up the sticky note Q: next 5 steps? \u003cPRED\u003eA: 1- place the sticky note on the table 2- place the pen on the table 3- done\n\u003c/PRED\u003e","video":"17475285055969534338.mp4"}
+{"uid":"10682519623240606014","text":"\u003ctask:success:discrete:True\u003e\nplace the redbull can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the redbull can on the table\n\u003c/PRED\u003e","video":"15719501819825549994.mp4"}
+{"uid":"16013116614320072898","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Refill my water and place it on Utsav's desk. Be sure to throw away the old cap and replace it with a new one. . last 20 steps: 1- open the lid of the paper glass 2- place the glass on the water machine Q: immediate next step? \u003cPRED\u003eA: fill water in the glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: fill water in the glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Refill my water and place it on Utsav's desk. Be sure to throw away the old cap and replace it with a new one. . last 20 steps: 1- open the lid of the paper glass 2- place the glass on the water machine Q: next 5 steps? \u003cPRED\u003eA: 1- fill water in the glass 2- place the glass on the table 3- fix the lid to the glass 4- place the lid in the trash bin 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nfill water in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: fill water in the glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nfill water in the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Refill my water and place it on Utsav's desk. Be sure to throw away the old cap and replace it with a new one. Q: immediate next step? \u003cPRED\u003eA: fill water in the glass\n\u003c/PRED\u003e","video":"5653420418446464797.mp4"}
+{"uid":"11846307220324814803","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: 1- place the can on table 2- place the can on table Q: next 5 steps? \u003cPRED\u003eA: 1- place the can on table 2- place the can on table 3- place the can on table 4- place the can on table 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the can on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: 1- place the can on table 2- place the can on table Q: immediate next step? \u003cPRED\u003eA: place the can on table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the can on table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the can on table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the red bull from the tray Q: immediate next step? \u003cPRED\u003eA: place the can on table\n\u003c/PRED\u003e","video":"7813435537294994282.mp4"}
+{"uid":"16525923731427766408","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the red bull can on the table from the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the red bull can on the table from the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the red bull from the tray Q: immediate next step? \u003cPRED\u003eA: Put the red bull can on the table from the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: 1- place the can on table 2- place the can on table 3- place the can on table 4- place the can on table Q: immediate next step? \u003cPRED\u003eA: Put the red bull can on the table from the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the red bull can on the table from the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: 1- place the can on table 2- place the can on table 3- place the can on table 4- place the can on table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the red bull can on the table from the tray 2- place the can on table 3- done\n\u003c/PRED\u003e","video":"3858496048883635854.mp4"}
+{"uid":"14604193216146756341","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the red bull can on the table from the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the red bull from the tray Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the red bull can on the table from the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: 1- place the can on table 2- place the can on table 3- place the can on table 4- place the can on table 5- place the can on table 6- Put the red bull can on the table from the tray Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: 1- place the can on table 2- place the can on table 3- place the can on table 4- place the can on table 5- place the can on table 6- Put the red bull can on the table from the tray Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"10052304002587959929.mp4"}
+{"uid":"1535998215482151254","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the can on table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the can on table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"171205252567204467.mp4"}
+{"uid":"7073684615817263323","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16045818940105415484.mp4"}
+{"uid":"6579989139435090507","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the white packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3087456313318753108.mp4"}
+{"uid":"9604853506017273953","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop candy in a white bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4480081255463016751.mp4"}
+{"uid":"10799378138518404802","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Refill my water and place it on Utsav's desk. Be sure to throw away the old cap and replace it with a new one. . last 20 steps: 1- open the lid of the paper glass Q: immediate next step? \u003cPRED\u003eA: place the glass on the water machine\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the glass on the water machine\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the glass on the water machine Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the glass on the water machine\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Refill my water and place it on Utsav's desk. Be sure to throw away the old cap and replace it with a new one. Q: immediate next step? \u003cPRED\u003eA: place the glass on the water machine\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the glass on the water machine Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Refill my water and place it on Utsav's desk. Be sure to throw away the old cap and replace it with a new one. . last 20 steps: 1- open the lid of the paper glass Q: next 5 steps? \u003cPRED\u003eA: 1- place the glass on the water machine 2- fill water in the glass 3- place the glass on the table 4- fix the lid to the glass 5- place the lid in the trash bin\n\u003c/PRED\u003e","video":"8667364503936841219.mp4"}
+{"uid":"12282660032905201812","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the red bull can on the table from the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the red bull can on the table from the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: 1- place the can on table 2- place the can on table 3- place the can on table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the red bull can on the table from the tray 2- place the can on table 3- place the can on table 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the red bull can on the table from the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the red bull can on the table from the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the red bull from the tray Q: immediate next step? \u003cPRED\u003eA: Put the red bull can on the table from the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: 1- place the can on table 2- place the can on table 3- place the can on table Q: immediate next step? \u003cPRED\u003eA: Put the red bull can on the table from the tray\n\u003c/PRED\u003e","video":"9029606341636979004.mp4"}
+{"uid":"6817710896642861108","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the redbull can on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the redbull can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5263158071018900550.mp4"}
+{"uid":"3341148288343237185","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the glass on the water machine\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the glass on the water machine Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4291495375264776797.mp4"}
+{"uid":"4930895410433801465","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the redbull can on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the redbull can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13958350385011764007.mp4"}
+{"uid":"615713138799581062","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace packet in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7009072186843671651.mp4"}
+{"uid":"6768843094917650207","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the sugar packets in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4439656048971233158.mp4"}
+{"uid":"1117638774981857526","text":"\u003ctask:success:discrete:True\u003e\nplace the can on table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the can on table\n\u003c/PRED\u003e","video":"9350436412609658102.mp4"}
+{"uid":"7378671045435465413","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the star in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3699545299043727999.mp4"}
+{"uid":"17104248885796359565","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Put the red bull can on the table from the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the red bull can on the table from the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the red bull can on the table from the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Put the red bull can on the table from the tray 2- place the can on table 3- place the can on table 4- place the can on table 5- place the can on table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the red bull can on the table from the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the red bull from the tray Q: immediate next step? \u003cPRED\u003eA: Put the red bull can on the table from the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the red bull can on the table from the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17887428643879472992.mp4"}
+{"uid":"940187609442485153","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: 1- place the can on table 2- place the can on table 3- place the can on table 4- place the can on table 5- place the can on table Q: immediate next step? \u003cPRED\u003eA: Put the red bull can on the table from the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the red bull can on the table from the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the red bull can on the table from the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the red bull from the tray Q: immediate next step? \u003cPRED\u003eA: Put the red bull can on the table from the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: 1- place the can on table 2- place the can on table 3- place the can on table 4- place the can on table 5- place the can on table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the red bull can on the table from the tray 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the red bull can on the table from the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14359617794606740470.mp4"}
+{"uid":"11084476095598487023","text":"\u003ctask:success:discrete:True\u003e\nplace the can on table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the can on table\n\u003c/PRED\u003e","video":"15915780745357138505.mp4"}
+{"uid":"12388873328999944665","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you throw trash from my desk while coming back get me a pen and notepad from printer room. last 20 steps: 1- pick up the trash 2- put the trash in the dustbin 3- place the sticky note on the table 4- place the pen on sticky note 5- pick up the sticky note 6- place the sticky note on the table Q: immediate next step? \u003cPRED\u003eA: place the pen on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the pen on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the pen on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you throw trash from my desk while coming back get me a pen and notepad from printer room. last 20 steps: 1- pick up the trash 2- put the trash in the dustbin 3- place the sticky note on the table 4- place the pen on sticky note 5- pick up the sticky note 6- place the sticky note on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the pen on the table 2- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the pen on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the pen on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you throw trash from my desk while coming back get me a pen and notepad from printer room Q: immediate next step? \u003cPRED\u003eA: place the pen on the table\n\u003c/PRED\u003e","video":"9528050662932751128.mp4"}
+{"uid":"13511354925324386984","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the redbull can on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the redbull can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the redbull can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place the redbull can on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the red bull from the tray Q: immediate next step? \u003cPRED\u003eA: place the redbull can on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the redbull can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place the redbull can on the table 2- place the can on table 3- place the can on table 4- place the can on table 5- place the can on table\n\u003c/PRED\u003e","video":"13689606197573276352.mp4"}
+{"uid":"186399460421569689","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: fix the lid to the glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Refill my water and place it on Utsav's desk. Be sure to throw away the old cap and replace it with a new one. Q: immediate next step? \u003cPRED\u003eA: fix the lid to the glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nfix the lid to the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: fix the lid to the glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Refill my water and place it on Utsav's desk. Be sure to throw away the old cap and replace it with a new one. . last 20 steps: 1- open the lid of the paper glass 2- place the glass on the water machine 3- fill water in the glass 4- place the glass on the table Q: next 5 steps? \u003cPRED\u003eA: 1- fix the lid to the glass 2- place the lid in the trash bin 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Refill my water and place it on Utsav's desk. Be sure to throw away the old cap and replace it with a new one. . last 20 steps: 1- open the lid of the paper glass 2- place the glass on the water machine 3- fill water in the glass 4- place the glass on the table Q: immediate next step? \u003cPRED\u003eA: fix the lid to the glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nfix the lid to the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7210969140281456917.mp4"}
+{"uid":"319226995335462272","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the pen on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6575916366414114365.mp4"}
+{"uid":"18319571963182882811","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: can you throw trash from my desk while coming back get me a pen and notepad from printer room Q: immediate next step? \u003cPRED\u003eA: place the pen on sticky note\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you throw trash from my desk while coming back get me a pen and notepad from printer room. last 20 steps: 1- pick up the trash 2- put the trash in the dustbin 3- place the sticky note on the table Q: immediate next step? \u003cPRED\u003eA: place the pen on sticky note\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the pen on sticky note Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the pen on sticky note Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the pen on sticky note\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the pen on sticky note\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you throw trash from my desk while coming back get me a pen and notepad from printer room. last 20 steps: 1- pick up the trash 2- put the trash in the dustbin 3- place the sticky note on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the pen on sticky note 2- pick up the sticky note 3- place the sticky note on the table 4- place the pen on the table 5- done\n\u003c/PRED\u003e","video":"7032197325727430659.mp4"}
+{"uid":"15208370348136512468","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the packet in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2716996551698146573.mp4"}
+{"uid":"8054496570032512661","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the sticky note on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the sticky note on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12783670943256680889.mp4"}
+{"uid":"9020632179588490403","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the can on table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: 1- place the can on table 2- place the can on table 3- place the can on table Q: immediate next step? \u003cPRED\u003eA: place the can on table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the can on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the can on table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the red bull from the tray Q: immediate next step? \u003cPRED\u003eA: place the can on table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: 1- place the can on table 2- place the can on table 3- place the can on table Q: next 5 steps? \u003cPRED\u003eA: 1- place the can on table 2- place the can on table 3- place the can on table 4- done\n\u003c/PRED\u003e","video":"959549465535607866.mp4"}
+{"uid":"6428300012966170197","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open the lid of the paper glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nopen the lid of the paper glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Refill my water and place it on Utsav's desk. Be sure to throw away the old cap and replace it with a new one. . last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- open the lid of the paper glass 2- place the glass on the water machine 3- fill water in the glass 4- place the glass on the table 5- fix the lid to the glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Refill my water and place it on Utsav's desk. Be sure to throw away the old cap and replace it with a new one. . last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: open the lid of the paper glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open the lid of the paper glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nopen the lid of the paper glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Refill my water and place it on Utsav's desk. Be sure to throw away the old cap and replace it with a new one. Q: immediate next step? \u003cPRED\u003eA: open the lid of the paper glass\n\u003c/PRED\u003e","video":"2943579121582696151.mp4"}
+{"uid":"12879649630285719862","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput pistachio in a glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10850244277323856017.mp4"}
+{"uid":"8589228013700258224","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the nacho packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7473651991399560406.mp4"}
+{"uid":"5135813996850559788","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the redbull can on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the redbull can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5950522368172970139.mp4"}
+{"uid":"2193475492896982816","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the can on table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the red bull from the tray Q: immediate next step? \u003cPRED\u003eA: place the can on table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place the can on table 2- place the can on table 3- place the can on table 4- place the can on table 5- place the can on table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place the can on table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the can on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the can on table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the can on table\n\u003c/PRED\u003e","video":"9833499860552173945.mp4"}
+{"uid":"4678405191153328947","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput sugar packet in the organiser Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17596717404999326636.mp4"}
+{"uid":"17702800896968882867","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: 1- place the can on table 2- place the can on table Q: next 5 steps? \u003cPRED\u003eA: 1- place the redbull can on the table 2- place the can on table 3- place the can on table 4- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the red bull from the tray Q: immediate next step? \u003cPRED\u003eA: place the redbull can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the redbull can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the redbull can on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: 1- place the can on table 2- place the can on table Q: immediate next step? \u003cPRED\u003eA: place the redbull can on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the redbull can on the table\n\u003c/PRED\u003e","video":"6616535665324783723.mp4"}
+{"uid":"15399237212309554277","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Refill my water and place it on Utsav's desk. Be sure to throw away the old cap and replace it with a new one. Q: immediate next step? \u003cPRED\u003eA: place the glass on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the glass on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the glass on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Refill my water and place it on Utsav's desk. Be sure to throw away the old cap and replace it with a new one. . last 20 steps: 1- open the lid of the paper glass 2- place the glass on the water machine 3- fill water in the glass Q: next 5 steps? \u003cPRED\u003eA: 1- place the glass on the table 2- fix the lid to the glass 3- place the lid in the trash bin 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Refill my water and place it on Utsav's desk. Be sure to throw away the old cap and replace it with a new one. . last 20 steps: 1- open the lid of the paper glass 2- place the glass on the water machine 3- fill water in the glass Q: immediate next step? \u003cPRED\u003eA: place the glass on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the glass on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the glass on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7972140046571969518.mp4"}
+{"uid":"15519952994216119880","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the binder clip in the black tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18073976543320233578.mp4"}
+{"uid":"10196249262282780982","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the can on table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the red bull from the tray Q: immediate next step? \u003cPRED\u003eA: place the can on table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: 1- place the can on table Q: immediate next step? \u003cPRED\u003eA: place the can on table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the can on table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: 1- place the can on table Q: next 5 steps? \u003cPRED\u003eA: 1- place the can on table 2- place the can on table 3- place the can on table 4- place the can on table 5- place the can on table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the can on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16313647647194752921.mp4"}
+{"uid":"11724380079036579554","text":"\u003ctask:success:discrete:True\u003e\nfill water in the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: fill water in the glass\n\u003c/PRED\u003e","video":"5280693631328161453.mp4"}
+{"uid":"17281202545184945405","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the trash in the dustbin\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the trash in the dustbin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3602520752469960459.mp4"}
+{"uid":"5303868229455144537","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the forks in the fork holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9738296659315595408.mp4"}
+{"uid":"3690526527921653565","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the can on table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the can on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: 1- place the can on table 2- place the can on table 3- place the can on table 4- place the can on table Q: immediate next step? \u003cPRED\u003eA: place the can on table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the red bull from the tray Q: immediate next step? \u003cPRED\u003eA: place the can on table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the can on table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: 1- place the can on table 2- place the can on table 3- place the can on table 4- place the can on table Q: next 5 steps? \u003cPRED\u003eA: 1- place the can on table 2- place the can on table 3- done\n\u003c/PRED\u003e","video":"6320798462353350828.mp4"}
+{"uid":"1289004193390920764","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the black pen into the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5297519912387386476.mp4"}
+{"uid":"14262001698756478606","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the red bull can on the table from the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the red bull can on the table from the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11601734324028055323.mp4"}
+{"uid":"13513752747623174232","text":"\u003ctask:success:discrete:True\u003e\nPut the red bull can on the table from the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the red bull can on the table from the tray\n\u003c/PRED\u003e","video":"15976067523494964429.mp4"}
+{"uid":"7758834931769122310","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick the white box from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17011080696349681915.mp4"}
+{"uid":"7549893510069934506","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace packet in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1201080738086655937.mp4"}
+{"uid":"5636661447140990657","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: 1- place the can on table 2- place the can on table 3- place the can on table Q: next 5 steps? \u003cPRED\u003eA: 1- place the redbull can on the table 2- place the can on table 3- place the can on table 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the redbull can on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the red bull from the tray Q: immediate next step? \u003cPRED\u003eA: place the redbull can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the redbull can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: 1- place the can on table 2- place the can on table 3- place the can on table Q: immediate next step? \u003cPRED\u003eA: place the redbull can on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the redbull can on the table\n\u003c/PRED\u003e","video":"11737583044079313504.mp4"}
+{"uid":"6779650601354019734","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace white packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15389650671701570535.mp4"}
+{"uid":"14634759177326177816","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the white packet in the glass tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3162992400966954993.mp4"}
+{"uid":"4635001588155987205","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the cushion on the sofa Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6483163734759752277.mp4"}
+{"uid":"13567725337469635895","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput packet in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1362989602767666198.mp4"}
+{"uid":"10936591015616654937","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput banana on the plate Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7367509623500975363.mp4"}
+{"uid":"10717982743662841570","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the redbull can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: 1- place the can on table 2- place the can on table 3- place the can on table 4- place the can on table 5- place the can on table 6- place the redbull can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the red bull from the tray Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the redbull can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: 1- place the can on table 2- place the can on table 3- place the can on table 4- place the can on table 5- place the can on table 6- place the redbull can on the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"6700657734486456020.mp4"}
+{"uid":"15301946447820151924","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the silver blue packet in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1131535527283816295.mp4"}
+{"uid":"9504804787121826534","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the red bull from the tray Q: immediate next step? \u003cPRED\u003eA: place the redbull can on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the redbull can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: 1- place the can on table 2- place the can on table 3- place the can on table 4- place the can on table 5- place the can on table Q: next 5 steps? \u003cPRED\u003eA: 1- place the redbull can on the table 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the redbull can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the redbull can on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: 1- place the can on table 2- place the can on table 3- place the can on table 4- place the can on table 5- place the can on table Q: immediate next step? \u003cPRED\u003eA: place the redbull can on the table\n\u003c/PRED\u003e","video":"10492822727437365239.mp4"}
+{"uid":"2092365118619897084","text":"\u003ctask:success:discrete:True\u003e\npick up the trash Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up the trash\n\u003c/PRED\u003e","video":"9921353917278969737.mp4"}
+{"uid":"4311707335051718991","text":"\u003ctask:success:discrete:True\u003e\nPut the red bull can on the table from the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the red bull can on the table from the tray\n\u003c/PRED\u003e","video":"37886094558029197.mp4"}
+{"uid":"13151534555620331575","text":"\u003ctask:success:discrete:True\u003e\nPut the red bull can on the table from the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the red bull can on the table from the tray\n\u003c/PRED\u003e","video":"11267160784927341135.mp4"}
+{"uid":"13285967153407228265","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the can on table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: 1- place the can on table 2- place the can on table 3- place the can on table 4- place the can on table 5- place the can on table Q: immediate next step? \u003cPRED\u003eA: place the can on table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: 1- place the can on table 2- place the can on table 3- place the can on table 4- place the can on table 5- place the can on table Q: next 5 steps? \u003cPRED\u003eA: 1- place the can on table 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the can on table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the can on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the red bull from the tray Q: immediate next step? \u003cPRED\u003eA: place the can on table\n\u003c/PRED\u003e","video":"6308769393477753774.mp4"}
+{"uid":"9939984624622992068","text":"\u003ctask:success:discrete:True\u003e\nPut the red bull can on the table from the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the red bull can on the table from the tray\n\u003c/PRED\u003e","video":"13949186197494674793.mp4"}
+{"uid":"15073354881185457675","text":"\u003ctask:success:discrete:True\u003e\nplace the redbull can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the redbull can on the table\n\u003c/PRED\u003e","video":"13884750816066388282.mp4"}
+{"uid":"18375543788767562002","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput pistachio in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17031632805076165865.mp4"}
+{"uid":"6309528200113243273","text":"\u003ctask:success:discrete:False\u003e\npick up the sticky note Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you throw trash from my desk while coming back get me a pen and notepad from printer room Q: immediate next step? \u003cPRED\u003eA: pick up the sticky note\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the sticky note\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the sticky note\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you throw trash from my desk while coming back get me a pen and notepad from printer room. last 20 steps: 1- pick up the trash 2- put the trash in the dustbin 3- place the sticky note on the table 4- place the pen on sticky note Q: immediate next step? \u003cPRED\u003eA: pick up the sticky note\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you throw trash from my desk while coming back get me a pen and notepad from printer room. last 20 steps: 1- pick up the trash 2- put the trash in the dustbin 3- place the sticky note on the table 4- place the pen on sticky note Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the sticky note 2- place the sticky note on the table 3- place the pen on the table 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the sticky note Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15380050416859512024.mp4"}
+{"uid":"5837357223972877763","text":"\u003ctask:success:discrete:True\u003e\nfix the lid to the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: fix the lid to the glass\n\u003c/PRED\u003e","video":"10867956365897777970.mp4"}
+{"uid":"7747681686394967245","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the pen in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10516316762041482916.mp4"}
+{"uid":"5518955044596511619","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the redbull can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the redbull can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: 1- place the can on table 2- place the can on table 3- place the can on table 4- place the can on table Q: immediate next step? \u003cPRED\u003eA: place the redbull can on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the red bull from the tray Q: immediate next step? \u003cPRED\u003eA: place the redbull can on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the redbull can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: 1- place the can on table 2- place the can on table 3- place the can on table 4- place the can on table Q: next 5 steps? \u003cPRED\u003eA: 1- place the redbull can on the table 2- place the can on table 3- done\n\u003c/PRED\u003e","video":"13578122153514224010.mp4"}
+{"uid":"8172913890300459110","text":"\u003ctask:success:discrete:True\u003e\nopen the lid of the paper glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: open the lid of the paper glass\n\u003c/PRED\u003e","video":"12574928800643541164.mp4"}
+{"uid":"12689883177356616845","text":"\u003ctask:success:discrete:True\u003e\nplace the can on table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the can on table\n\u003c/PRED\u003e","video":"884912732854169409.mp4"}
+{"uid":"3050729079366482115","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the Pistachio in the paper glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9072529888350530353.mp4"}
+{"uid":"17871684847234146859","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick the sachet Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3125684588402507539.mp4"}
+{"uid":"14473997916796935776","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the packet in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13954507877459226477.mp4"}
+{"uid":"8505218895688610094","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput cheddar into the paper bag Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13891972911073232229.mp4"}
+{"uid":"8930336252382128149","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nGrasp the oven door Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14170280047244857343.mp4"}
+{"uid":"8572496072200107869","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: can you throw trash from my desk while coming back get me a pen and notepad from printer room Q: immediate next step? \u003cPRED\u003eA: place the sticky note on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you throw trash from my desk while coming back get me a pen and notepad from printer room. last 20 steps: 1- pick up the trash 2- put the trash in the dustbin Q: immediate next step? \u003cPRED\u003eA: place the sticky note on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the sticky note on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the sticky note on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the sticky note on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you throw trash from my desk while coming back get me a pen and notepad from printer room. last 20 steps: 1- pick up the trash 2- put the trash in the dustbin Q: next 5 steps? \u003cPRED\u003eA: 1- place the sticky note on the table 2- place the pen on sticky note 3- pick up the sticky note 4- place the sticky note on the table 5- place the pen on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the sticky note on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8297192892972813210.mp4"}
+{"uid":"14515916886102250090","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Refill my water and place it on Utsav's desk. Be sure to throw away the old cap and replace it with a new one. Q: immediate next step? \u003cPRED\u003eA: place the lid in the trash bin\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the lid in the trash bin\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the lid in the trash bin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the lid in the trash bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the lid in the trash bin\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Refill my water and place it on Utsav's desk. Be sure to throw away the old cap and replace it with a new one. . last 20 steps: 1- open the lid of the paper glass 2- place the glass on the water machine 3- fill water in the glass 4- place the glass on the table 5- fix the lid to the glass Q: immediate next step? \u003cPRED\u003eA: place the lid in the trash bin\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Refill my water and place it on Utsav's desk. Be sure to throw away the old cap and replace it with a new one. . last 20 steps: 1- open the lid of the paper glass 2- place the glass on the water machine 3- fill water in the glass 4- place the glass on the table 5- fix the lid to the glass Q: next 5 steps? \u003cPRED\u003eA: 1- place the lid in the trash bin 2- done\n\u003c/PRED\u003e","video":"7058457764597698338.mp4"}
+{"uid":"12105011656617400310","text":"\u003ctask:success:discrete:True\u003e\nplace the glass on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the glass on the table\n\u003c/PRED\u003e","video":"16222843223296477328.mp4"}
+{"uid":"6544941335291238441","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Refill my water and place it on Utsav's desk. Be sure to throw away the old cap and replace it with a new one. . last 20 steps: 1- open the lid of the paper glass 2- place the glass on the water machine 3- fill water in the glass 4- place the glass on the table 5- fix the lid to the glass 6- place the lid in the trash bin Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the lid in the trash bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Refill my water and place it on Utsav's desk. Be sure to throw away the old cap and replace it with a new one. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Refill my water and place it on Utsav's desk. Be sure to throw away the old cap and replace it with a new one. . last 20 steps: 1- open the lid of the paper glass 2- place the glass on the water machine 3- fill water in the glass 4- place the glass on the table 5- fix the lid to the glass 6- place the lid in the trash bin Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the lid in the trash bin\n\u003c/PRED\u003e","video":"4996643740541390681.mp4"}
+{"uid":"18395753622919712786","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: 1- place the can on table Q: immediate next step? \u003cPRED\u003eA: place the redbull can on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the red bull from the tray Q: immediate next step? \u003cPRED\u003eA: place the redbull can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the redbull can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the redbull can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: 1- place the can on table Q: next 5 steps? \u003cPRED\u003eA: 1- place the redbull can on the table 2- place the can on table 3- place the can on table 4- place the can on table 5- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the redbull can on the table\n\u003c/PRED\u003e","video":"4860857303207952773.mp4"}
+{"uid":"6674266862702335689","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the red bull can on the table from the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: 1- place the can on table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the red bull can on the table from the tray 2- place the can on table 3- place the can on table 4- place the can on table 5- place the can on table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the red bull can on the table from the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the red bull can on the table from the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the red bull from the tray Q: immediate next step? \u003cPRED\u003eA: Put the red bull can on the table from the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: 1- place the can on table Q: immediate next step? \u003cPRED\u003eA: Put the red bull can on the table from the tray\n\u003c/PRED\u003e","video":"7210603152969577467.mp4"}
+{"uid":"17650082616762789886","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: 1- place the can on table 2- place the can on table 3- place the can on table 4- place the can on table 5- place the can on table 6- place the can on table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: 1- place the can on table 2- place the can on table 3- place the can on table 4- place the can on table 5- place the can on table 6- place the can on table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the can on table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the can on table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the red bull from the tray Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"15401068514498953087.mp4"}
+{"uid":"10232013421463567591","text":"\u003ctask:success:discrete:True\u003e\nplace the can on table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the can on table\n\u003c/PRED\u003e","video":"2401332486216322445.mp4"}
+{"uid":"15762380748866156462","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you throw trash from my desk while coming back get me a pen and notepad from printer room. last 20 steps: 1- pick up the trash Q: immediate next step? \u003cPRED\u003eA: put the trash in the dustbin\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the trash in the dustbin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you throw trash from my desk while coming back get me a pen and notepad from printer room Q: immediate next step? \u003cPRED\u003eA: put the trash in the dustbin\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you throw trash from my desk while coming back get me a pen and notepad from printer room. last 20 steps: 1- pick up the trash Q: next 5 steps? \u003cPRED\u003eA: 1- put the trash in the dustbin 2- place the sticky note on the table 3- place the pen on sticky note 4- pick up the sticky note 5- place the sticky note on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the trash in the dustbin\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the trash in the dustbin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the trash in the dustbin\n\u003c/PRED\u003e","video":"15746570988093165802.mp4"}
+{"uid":"16422777605154191771","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrag the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17024133197961701774.mp4"}
+{"uid":"3487607215191709204","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: 1- place the can on table 2- place the can on table Q: immediate next step? \u003cPRED\u003eA: Put the red bull can on the table from the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: 1- place the can on table 2- place the can on table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the red bull can on the table from the tray 2- place the can on table 3- place the can on table 4- place the can on table 5- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the red bull from the tray Q: immediate next step? \u003cPRED\u003eA: Put the red bull can on the table from the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the red bull can on the table from the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the red bull can on the table from the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the red bull can on the table from the tray\n\u003c/PRED\u003e","video":"10589922325372700452.mp4"}
+{"uid":"13066090559572091784","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the three glasses in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5679797242671658095.mp4"}
+{"uid":"1588704661534780908","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the fork in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8792809705567595019.mp4"}
+{"uid":"10864545240127625588","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace can in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17148500850290434782.mp4"}
+{"uid":"13135662471357847892","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput pen on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2939551650158681599.mp4"}
+{"uid":"196963837884466834","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput apple in bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2644356654890677399.mp4"}
+{"uid":"5333356403265109708","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the pip corn packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pip corn packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the snacks into the tray. last 20 steps: 1- put the nacho packet in the tray 2- put the nacho packet in the tray 3- put the nacho packet in the tray 4- put the nacho packet in the tray 5- put the nacho packet in the tray 6- put the pip corn packet in the tray 7- put the pip corn packet in the tray 8- put the pip corn packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put the pip corn packet in the tray 2- put the pip corn packet in the tray 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the snacks into the tray. last 20 steps: 1- put the nacho packet in the tray 2- put the nacho packet in the tray 3- put the nacho packet in the tray 4- put the nacho packet in the tray 5- put the nacho packet in the tray 6- put the pip corn packet in the tray 7- put the pip corn packet in the tray 8- put the pip corn packet in the tray Q: immediate next step? \u003cPRED\u003eA: put the pip corn packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the pip corn packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the snacks into the tray Q: immediate next step? \u003cPRED\u003eA: put the pip corn packet in the tray\n\u003c/PRED\u003e","video":"13524410506798352224.mp4"}
+{"uid":"8786466326559689224","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove all the oatmeal packets from the tray. last 20 steps: 1- put orange packet in the tray Q: immediate next step? \u003cPRED\u003eA: adjust the orange packet\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove all the oatmeal packets from the tray Q: immediate next step? \u003cPRED\u003eA: adjust the orange packet\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove all the oatmeal packets from the tray. last 20 steps: 1- put orange packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- adjust the orange packet 2- put orange packet in the tray 3- put orange packet in the tray 4- put orange packet in the tray 5- put orange packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: adjust the orange packet\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: adjust the orange packet\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nadjust the orange packet Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nadjust the orange packet Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5255784933531673970.mp4"}
+{"uid":"2841785319060833999","text":"\u003ctask:success:discrete:False\u003e\nput the pip corn packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the snacks into the tray. last 20 steps: 1- put the nacho packet in the tray 2- put the nacho packet in the tray 3- put the nacho packet in the tray 4- put the nacho packet in the tray 5- put the nacho packet in the tray Q: immediate next step? \u003cPRED\u003eA: put the pip corn packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the snacks into the tray Q: immediate next step? \u003cPRED\u003eA: put the pip corn packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pip corn packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the snacks into the tray. last 20 steps: 1- put the nacho packet in the tray 2- put the nacho packet in the tray 3- put the nacho packet in the tray 4- put the nacho packet in the tray 5- put the nacho packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put the pip corn packet in the tray 2- put the pip corn packet in the tray 3- put the pip corn packet in the tray 4- put the pip corn packet in the tray 5- put the pip corn packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the pip corn packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the pip corn packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9770074576830779108.mp4"}
+{"uid":"5479457782627939776","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the marker in a container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14632302566351841847.mp4"}
+{"uid":"16088978484007073423","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the paper in the recycle bin\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw away all the trash on the table into a green compost bin. last 20 steps: 1- put the white box in the recycle bin Q: next 5 steps? \u003cPRED\u003eA: 1- put the paper in the recycle bin 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the paper in the recycle bin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw away all the trash on the table into a green compost bin. last 20 steps: 1- put the white box in the recycle bin Q: immediate next step? \u003cPRED\u003eA: put the paper in the recycle bin\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the paper in the recycle bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw away all the trash on the table into a green compost bin Q: immediate next step? \u003cPRED\u003eA: put the paper in the recycle bin\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the paper in the recycle bin\n\u003c/PRED\u003e","video":"3945993086797034278.mp4"}
+{"uid":"7415644887821619942","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6408700470751929418.mp4"}
+{"uid":"11567525095531067037","text":"\u003ctask:success:discrete:True\u003e\nput the pip corn packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the pip corn packet in the tray\n\u003c/PRED\u003e","video":"8042353682586858066.mp4"}
+{"uid":"8647201560983601327","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPush the cartoon box from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14641024097086285262.mp4"}
+{"uid":"18285273471507893257","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove all the oatmeal packets from the tray Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove all the oatmeal packets from the tray. last 20 steps: 1- put orange packet in the tray 2- adjust the orange packet 3- put orange packet in the tray 4- put orange packet in the tray 5- put orange packet in the tray 6- put orange packet in the tray Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put orange packet in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput orange packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove all the oatmeal packets from the tray. last 20 steps: 1- put orange packet in the tray 2- adjust the orange packet 3- put orange packet in the tray 4- put orange packet in the tray 5- put orange packet in the tray 6- put orange packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"15994615897836075195.mp4"}
+{"uid":"6562306829809644445","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the white box in the recycle bin\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the white box in the recycle bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9707982403241768403.mp4"}
+{"uid":"10371072218844177791","text":"\u003ctask:success:discrete:True\u003e\nput the pip corn packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the pip corn packet in the tray\n\u003c/PRED\u003e","video":"7008187183157187129.mp4"}
+{"uid":"5485749349180970058","text":"\u003ctask:success:discrete:True\u003e\nput orange packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put orange packet in the tray\n\u003c/PRED\u003e","video":"17595911137928616539.mp4"}
+{"uid":"17265257853725212170","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the pip corn packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the pip corn packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the snacks into the tray Q: immediate next step? \u003cPRED\u003eA: put the pip corn packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pip corn packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the snacks into the tray. last 20 steps: 1- put the nacho packet in the tray 2- put the nacho packet in the tray 3- put the nacho packet in the tray 4- put the nacho packet in the tray 5- put the nacho packet in the tray 6- put the pip corn packet in the tray 7- put the pip corn packet in the tray 8- put the pip corn packet in the tray 9- put the pip corn packet in the tray Q: immediate next step? \u003cPRED\u003eA: put the pip corn packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the snacks into the tray. last 20 steps: 1- put the nacho packet in the tray 2- put the nacho packet in the tray 3- put the nacho packet in the tray 4- put the nacho packet in the tray 5- put the nacho packet in the tray 6- put the pip corn packet in the tray 7- put the pip corn packet in the tray 8- put the pip corn packet in the tray 9- put the pip corn packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put the pip corn packet in the tray 2- done\n\u003c/PRED\u003e","video":"6322395176391321036.mp4"}
+{"uid":"12919743312947511985","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove forward Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11083870092276990110.mp4"}
+{"uid":"453967727556142179","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put lunchbox into the dustbin.\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw away all the trash on the table into a green compost bin. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Put lunchbox into the dustbin. 2- put the paper in the recycle bin 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut lunchbox into the dustbin. Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put lunchbox into the dustbin.\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw away all the trash on the table into a green compost bin Q: immediate next step? \u003cPRED\u003eA: Put lunchbox into the dustbin.\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw away all the trash on the table into a green compost bin. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Put lunchbox into the dustbin.\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut lunchbox into the dustbin. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10737424265442442980.mp4"}
+{"uid":"18006090608434312647","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the nacho packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the nacho packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the snacks into the tray Q: immediate next step? \u003cPRED\u003eA: put the nacho packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the snacks into the tray. last 20 steps: 1- put the nacho packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put the nacho packet in the tray 2- put the nacho packet in the tray 3- put the nacho packet in the tray 4- put the nacho packet in the tray 5- put the pip corn packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the snacks into the tray. last 20 steps: 1- put the nacho packet in the tray Q: immediate next step? \u003cPRED\u003eA: put the nacho packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the nacho packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12092865836746317535.mp4"}
+{"uid":"1800099612748628071","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the white box in the recycle bin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the white box in the recycle bin\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw away all the trash on the table into a green compost bin. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put the white box in the recycle bin\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw away all the trash on the table into a green compost bin. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put the white box in the recycle bin 2- put the paper in the recycle bin 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw away all the trash on the table into a green compost bin Q: immediate next step? \u003cPRED\u003eA: put the white box in the recycle bin\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the white box in the recycle bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the white box in the recycle bin\n\u003c/PRED\u003e","video":"4160734677435873555.mp4"}
+{"uid":"10754360472563787512","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put orange packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove all the oatmeal packets from the tray Q: immediate next step? \u003cPRED\u003eA: put orange packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove all the oatmeal packets from the tray. last 20 steps: 1- put orange packet in the tray 2- adjust the orange packet 3- put orange packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put orange packet in the tray 2- put orange packet in the tray 3- put orange packet in the tray 4- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put orange packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove all the oatmeal packets from the tray. last 20 steps: 1- put orange packet in the tray 2- adjust the orange packet 3- put orange packet in the tray Q: immediate next step? \u003cPRED\u003eA: put orange packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput orange packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"280656668332794421.mp4"}
+{"uid":"8382553160692845126","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nopen the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17547507083039339591.mp4"}
+{"uid":"16293216158861062506","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put tissue in the dustbin\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw away all the trash on the table into a green compost bin. last 20 steps: 1- put the white box in the recycle bin 2- Put tissue in the dustbin Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw away all the trash on the table into a green compost bin. last 20 steps: 1- put the white box in the recycle bin 2- Put tissue in the dustbin Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw away all the trash on the table into a green compost bin Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut tissue in the dustbin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9324403887778632332.mp4"}
+{"uid":"17803472528544454040","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace a apple inside the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6069597106067016885.mp4"}
+{"uid":"16442024557603969849","text":"\u003ctask:success:discrete:True\u003e\nput the nacho packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the nacho packet in the tray\n\u003c/PRED\u003e","video":"8584917044444630057.mp4"}
+{"uid":"15983533643436891858","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove all the oatmeal packets from the tray Q: immediate next step? \u003cPRED\u003eA: put orange packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put orange packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put orange packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput orange packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove all the oatmeal packets from the tray. last 20 steps: 1- put orange packet in the tray 2- adjust the orange packet 3- put orange packet in the tray 4- put orange packet in the tray 5- put orange packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put orange packet in the tray 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove all the oatmeal packets from the tray. last 20 steps: 1- put orange packet in the tray 2- adjust the orange packet 3- put orange packet in the tray 4- put orange packet in the tray 5- put orange packet in the tray Q: immediate next step? \u003cPRED\u003eA: put orange packet in the tray\n\u003c/PRED\u003e","video":"6326767737922155698.mp4"}
+{"uid":"3767024947946187409","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put orange packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove all the oatmeal packets from the tray Q: immediate next step? \u003cPRED\u003eA: put orange packet in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput orange packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove all the oatmeal packets from the tray. last 20 steps: 1- put orange packet in the tray 2- adjust the orange packet Q: immediate next step? \u003cPRED\u003eA: put orange packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput orange packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put orange packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove all the oatmeal packets from the tray. last 20 steps: 1- put orange packet in the tray 2- adjust the orange packet Q: next 5 steps? \u003cPRED\u003eA: 1- put orange packet in the tray 2- put orange packet in the tray 3- put orange packet in the tray 4- put orange packet in the tray 5- done\n\u003c/PRED\u003e","video":"5300918791980278847.mp4"}
+{"uid":"2346707045066454323","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nexit the room with the tissue Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1811399592986281999.mp4"}
+{"uid":"1467068647830993770","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove towards the shelf Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15645235005016794409.mp4"}
+{"uid":"12282510118385645324","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace ball in Triangle Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15436867524406722682.mp4"}
+{"uid":"7552468456225437400","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the pip corn packet in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the pip corn packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1486757573169394479.mp4"}
+{"uid":"2836224045631843900","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the orange packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7083980576679916088.mp4"}
+{"uid":"11091621941760320121","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the nacho packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the nacho packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the nacho packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the snacks into the tray. last 20 steps: 1- put the nacho packet in the tray 2- put the nacho packet in the tray 3- put the nacho packet in the tray 4- put the nacho packet in the tray Q: immediate next step? \u003cPRED\u003eA: put the nacho packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the snacks into the tray. last 20 steps: 1- put the nacho packet in the tray 2- put the nacho packet in the tray 3- put the nacho packet in the tray 4- put the nacho packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put the nacho packet in the tray 2- put the pip corn packet in the tray 3- put the pip corn packet in the tray 4- put the pip corn packet in the tray 5- put the pip corn packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the snacks into the tray Q: immediate next step? \u003cPRED\u003eA: put the nacho packet in the tray\n\u003c/PRED\u003e","video":"9078989276899330016.mp4"}
+{"uid":"2477878441345962437","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the lunch box into the trash\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the lunch box into the trash Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw away all the trash on the table into a green compost bin. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put the lunch box into the trash\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw away all the trash on the table into a green compost bin Q: immediate next step? \u003cPRED\u003eA: put the lunch box into the trash\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw away all the trash on the table into a green compost bin. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put the lunch box into the trash 2- put the paper in the recycle bin 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the lunch box into the trash Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the lunch box into the trash\n\u003c/PRED\u003e","video":"2622920209851686643.mp4"}
+{"uid":"10399638806121218023","text":"\u003ctask:success:discrete:False\u003e\nPut tissue in the dustbin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw away all the trash on the table into a green compost bin. last 20 steps: 1- put the white box in the recycle bin Q: next 5 steps? \u003cPRED\u003eA: 1- Put tissue in the dustbin 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw away all the trash on the table into a green compost bin. last 20 steps: 1- put the white box in the recycle bin Q: immediate next step? \u003cPRED\u003eA: Put tissue in the dustbin\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put tissue in the dustbin\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut tissue in the dustbin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw away all the trash on the table into a green compost bin Q: immediate next step? \u003cPRED\u003eA: Put tissue in the dustbin\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put tissue in the dustbin\n\u003c/PRED\u003e","video":"590646935107157639.mp4"}
+{"uid":"3480185265321304511","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the snacks into the tray. last 20 steps: 1- put the nacho packet in the tray 2- put the nacho packet in the tray 3- put the nacho packet in the tray 4- put the nacho packet in the tray 5- put the nacho packet in the tray 6- put the pip corn packet in the tray Q: immediate next step? \u003cPRED\u003eA: put the pip corn packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the pip corn packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the pip corn packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the snacks into the tray. last 20 steps: 1- put the nacho packet in the tray 2- put the nacho packet in the tray 3- put the nacho packet in the tray 4- put the nacho packet in the tray 5- put the nacho packet in the tray 6- put the pip corn packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put the pip corn packet in the tray 2- put the pip corn packet in the tray 3- put the pip corn packet in the tray 4- put the pip corn packet in the tray 5- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the snacks into the tray Q: immediate next step? \u003cPRED\u003eA: put the pip corn packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pip corn packet in the tray\n\u003c/PRED\u003e","video":"7374973859656377310.mp4"}
+{"uid":"16453450239030216601","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the orange in a bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15498556577198738487.mp4"}
+{"uid":"202181583645841827","text":"\u003ctask:success:discrete:True\u003e\nput the lunch box into the trash Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the lunch box into the trash\n\u003c/PRED\u003e","video":"11484366716890473562.mp4"}
+{"uid":"6701791309865948900","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the brown packet into the black container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8895371208179834352.mp4"}
+{"uid":"12744625754688803788","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove towards the door Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14670763149739729134.mp4"}
+{"uid":"3315323397582530100","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the snacks into the tray. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put the nacho packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the nacho packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the nacho packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the nacho packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the snacks into the tray Q: immediate next step? \u003cPRED\u003eA: put the nacho packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the snacks into the tray. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put the nacho packet in the tray 2- put the nacho packet in the tray 3- put the nacho packet in the tray 4- put the nacho packet in the tray 5- put the nacho packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the nacho packet in the tray\n\u003c/PRED\u003e","video":"2665496935223838699.mp4"}
+{"uid":"7973865944559055552","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the snacks into the tray. last 20 steps: 1- put the nacho packet in the tray 2- put the nacho packet in the tray 3- put the nacho packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put the nacho packet in the tray 2- put the nacho packet in the tray 3- put the pip corn packet in the tray 4- put the pip corn packet in the tray 5- put the pip corn packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the snacks into the tray Q: immediate next step? \u003cPRED\u003eA: put the nacho packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the snacks into the tray. last 20 steps: 1- put the nacho packet in the tray 2- put the nacho packet in the tray 3- put the nacho packet in the tray Q: immediate next step? \u003cPRED\u003eA: put the nacho packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the nacho packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the nacho packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the nacho packet in the tray\n\u003c/PRED\u003e","video":"12436183674635461017.mp4"}
+{"uid":"13452978255411792811","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw away all the trash on the table into a green compost bin. last 20 steps: 1- put the white box in the recycle bin 2- put the paper in the recycle bin Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw away all the trash on the table into a green compost bin. last 20 steps: 1- put the white box in the recycle bin 2- put the paper in the recycle bin Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw away all the trash on the table into a green compost bin Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the paper in the recycle bin\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the paper in the recycle bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6947038362809359132.mp4"}
+{"uid":"3990232464670716806","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the nacho packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the nacho packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the snacks into the tray. last 20 steps: 1- put the nacho packet in the tray 2- put the nacho packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put the nacho packet in the tray 2- put the nacho packet in the tray 3- put the nacho packet in the tray 4- put the pip corn packet in the tray 5- put the pip corn packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the snacks into the tray Q: immediate next step? \u003cPRED\u003eA: put the nacho packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the nacho packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the snacks into the tray. last 20 steps: 1- put the nacho packet in the tray 2- put the nacho packet in the tray Q: immediate next step? \u003cPRED\u003eA: put the nacho packet in the tray\n\u003c/PRED\u003e","video":"10203985255608225822.mp4"}
+{"uid":"859847343712282161","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the snacks into the tray Q: immediate next step? \u003cPRED\u003eA: put the pip corn packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the pip corn packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the snacks into the tray. last 20 steps: 1- put the nacho packet in the tray 2- put the nacho packet in the tray 3- put the nacho packet in the tray 4- put the nacho packet in the tray 5- put the nacho packet in the tray 6- put the pip corn packet in the tray 7- put the pip corn packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put the pip corn packet in the tray 2- put the pip corn packet in the tray 3- put the pip corn packet in the tray 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the snacks into the tray. last 20 steps: 1- put the nacho packet in the tray 2- put the nacho packet in the tray 3- put the nacho packet in the tray 4- put the nacho packet in the tray 5- put the nacho packet in the tray 6- put the pip corn packet in the tray 7- put the pip corn packet in the tray Q: immediate next step? \u003cPRED\u003eA: put the pip corn packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the pip corn packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pip corn packet in the tray\n\u003c/PRED\u003e","video":"9399003433505004883.mp4"}
+{"uid":"16536554780110937368","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up the left pen from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11719605803222269303.mp4"}
+{"uid":"5162930002169653664","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put lunchbox into the dustbin.\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut lunchbox into the dustbin. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15759542278691560581.mp4"}
+{"uid":"5372995711799139369","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the black pen in holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8609872272340383010.mp4"}
+{"uid":"1283168941967318547","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put orange packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove all the oatmeal packets from the tray. last 20 steps: 1- put orange packet in the tray 2- adjust the orange packet 3- put orange packet in the tray 4- put orange packet in the tray Q: immediate next step? \u003cPRED\u003eA: put orange packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput orange packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove all the oatmeal packets from the tray Q: immediate next step? \u003cPRED\u003eA: put orange packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put orange packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove all the oatmeal packets from the tray. last 20 steps: 1- put orange packet in the tray 2- adjust the orange packet 3- put orange packet in the tray 4- put orange packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put orange packet in the tray 2- put orange packet in the tray 3- done\n\u003c/PRED\u003e","video":"1155635565818586443.mp4"}
+{"uid":"5451241920268256098","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nopen the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2633120491324678161.mp4"}
+{"uid":"13542757235667645436","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput orange in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10668712065232434054.mp4"}
+{"uid":"5059104757994744986","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away all my trash at the end of the table. last 20 steps: 1- pick up white packet 2- leave room 3- put packet in dustbin 4- Go to the table in the room 5- pick up plastic container Q: next 5 steps? \u003cPRED\u003eA: 1- Throw plastic container in the trash bin 2- Go to the table in the room 3- Pick up paper cup 4- leave room 5- put cup in dustbin\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away all my trash at the end of the table. last 20 steps: 1- pick up white packet 2- leave room 3- put packet in dustbin 4- Go to the table in the room 5- pick up plastic container Q: immediate next step? \u003cPRED\u003eA: Throw plastic container in the trash bin\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Throw plastic container in the trash bin\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please throw away all my trash at the end of the table Q: immediate next step? \u003cPRED\u003eA: Throw plastic container in the trash bin\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Throw plastic container in the trash bin\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nThrow plastic container in the trash bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nThrow plastic container in the trash bin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"963948780636969913.mp4"}
+{"uid":"15857959008723051187","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please throw away all my trash at the end of the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput cup in dustbin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away all my trash at the end of the table. last 20 steps: 1- pick up white packet 2- leave room 3- put packet in dustbin 4- Go to the table in the room 5- pick up plastic container 6- leave room 7- put plastic box in dustbin 8- Go to the table in the room 9- Pick up paper cup 10- leave room 11- put cup in dustbin Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away all my trash at the end of the table. last 20 steps: 1- pick up white packet 2- leave room 3- put packet in dustbin 4- Go to the table in the room 5- pick up plastic container 6- leave room 7- put plastic box in dustbin 8- Go to the table in the room 9- Pick up paper cup 10- leave room 11- put cup in dustbin Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put cup in dustbin\n\u003c/PRED\u003e","video":"2977604467134968723.mp4"}
+{"uid":"1090452664552731943","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please throw away all my trash at the end of the table Q: immediate next step? \u003cPRED\u003eA: pick up the cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away all my trash at the end of the table. last 20 steps: 1- pick up white packet 2- leave room 3- put packet in dustbin 4- Go to the table in the room 5- pick up plastic container 6- leave room 7- put plastic box in dustbin 8- Go to the table in the room Q: immediate next step? \u003cPRED\u003eA: pick up the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away all my trash at the end of the table. last 20 steps: 1- pick up white packet 2- leave room 3- put packet in dustbin 4- Go to the table in the room 5- pick up plastic container 6- leave room 7- put plastic box in dustbin 8- Go to the table in the room Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the cup 2- leave room 3- put cup in dustbin 4- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17651521321157906725.mp4"}
+{"uid":"3262186665039942597","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the brown packet inside the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3838546820820897176.mp4"}
+{"uid":"642402335107616021","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: leave room\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nleave room Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6025555798888589924.mp4"}
+{"uid":"5556553572536843720","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick the plastic box from the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please throw away all my trash at the end of the table Q: immediate next step? \u003cPRED\u003eA: Pick the plastic box from the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick the plastic box from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick the plastic box from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick the plastic box from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away all my trash at the end of the table. last 20 steps: 1- pick up white packet 2- leave room 3- put packet in dustbin 4- Go to the table in the room Q: next 5 steps? \u003cPRED\u003eA: 1- Pick the plastic box from the table 2- put plastic box in dustbin 3- Go to the table in the room 4- Pick up paper cup 5- leave room\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away all my trash at the end of the table. last 20 steps: 1- pick up white packet 2- leave room 3- put packet in dustbin 4- Go to the table in the room Q: immediate next step? \u003cPRED\u003eA: Pick the plastic box from the table\n\u003c/PRED\u003e","video":"13228808994263724466.mp4"}
+{"uid":"11349075417417290634","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput packet in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1823399912112427001.mp4"}
+{"uid":"8065810718389234853","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Go to the table in the room\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nGo to the table in the room Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10726687924332870616.mp4"}
+{"uid":"11331454385533374742","text":"\u003ctask:success:discrete:True\u003e\nThrow plastic container in the trash bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Throw plastic container in the trash bin\n\u003c/PRED\u003e","video":"1965413642430241796.mp4"}
+{"uid":"1623643542715706422","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nopen the fridge Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9556054995961545731.mp4"}
+{"uid":"5175196392726153709","text":"\u003ctask:success:discrete:True\u003e\nput plastic box in dustbin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put plastic box in dustbin\n\u003c/PRED\u003e","video":"455924371688124428.mp4"}
+{"uid":"3945297181421867568","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the pink candies in the container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4047003947054657455.mp4"}
+{"uid":"17862518476798531910","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please throw away all my trash at the end of the table Q: immediate next step? \u003cPRED\u003eA: Leave the room\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Leave the room\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away all my trash at the end of the table. last 20 steps: 1- pick up white packet 2- leave room 3- put packet in dustbin 4- Go to the table in the room 5- pick up plastic container Q: next 5 steps? \u003cPRED\u003eA: 1- Leave the room 2- Go to the table in the room 3- Pick up paper cup 4- leave room 5- put cup in dustbin\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Leave the room\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nLeave the room Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away all my trash at the end of the table. last 20 steps: 1- pick up white packet 2- leave room 3- put packet in dustbin 4- Go to the table in the room 5- pick up plastic container Q: immediate next step? \u003cPRED\u003eA: Leave the room\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nLeave the room Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3353214119241129309.mp4"}
+{"uid":"8986648197717624084","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up plastic container\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick up plastic container Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16873092374967510525.mp4"}
+{"uid":"7877164755905809085","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Go to the table in the room\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nGo to the table in the room Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12592398394320092089.mp4"}
+{"uid":"3804819316917908365","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please throw away all my trash at the end of the table Q: immediate next step? \u003cPRED\u003eA: Pick the white packet from the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away all my trash at the end of the table. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Pick the white packet from the table 2- put packet in dustbin 3- Go to the table in the room 4- pick up plastic container 5- leave room\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick the white packet from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick the white packet from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away all my trash at the end of the table. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Pick the white packet from the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick the white packet from the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick the white packet from the table\n\u003c/PRED\u003e","video":"16973277566338364047.mp4"}
+{"uid":"931270960005690217","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop that candy in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8469418311945501181.mp4"}
+{"uid":"17414729857109934089","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the blue cable in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4579308034862367174.mp4"}
+{"uid":"12299426622967750175","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up white packet\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up white packet Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up white packet\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away all my trash at the end of the table. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- pick up white packet 2- leave room 3- put packet in dustbin 4- Go to the table in the room 5- pick up plastic container\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please throw away all my trash at the end of the table Q: immediate next step? \u003cPRED\u003eA: pick up white packet\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up white packet Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away all my trash at the end of the table. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: pick up white packet\n\u003c/PRED\u003e","video":"18324434815194435346.mp4"}
+{"uid":"3646221909511598520","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput a pistachio in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11575732775205421220.mp4"}
+{"uid":"4197522062794085363","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the grey can in the freezer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6800315721542480129.mp4"}
+{"uid":"9735273310038983495","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please throw away all my trash at the end of the table Q: immediate next step? \u003cPRED\u003eA: Enter the room\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nEnter the room Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away all my trash at the end of the table. last 20 steps: 1- pick up white packet 2- leave room 3- put packet in dustbin 4- Go to the table in the room 5- pick up plastic container 6- leave room 7- put plastic box in dustbin Q: immediate next step? \u003cPRED\u003eA: Enter the room\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nEnter the room Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away all my trash at the end of the table. last 20 steps: 1- pick up white packet 2- leave room 3- put packet in dustbin 4- Go to the table in the room 5- pick up plastic container 6- leave room 7- put plastic box in dustbin Q: next 5 steps? \u003cPRED\u003eA: 1- Enter the room 2- Pick up paper cup 3- leave room 4- put cup in dustbin 5- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Enter the room\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Enter the room\n\u003c/PRED\u003e","video":"17601282620607503963.mp4"}
+{"uid":"12152355741473695658","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput packet in bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13427156524668684722.mp4"}
+{"uid":"5570346479210194394","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Throw the box inside the trash bin\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away all my trash at the end of the table. last 20 steps: 1- pick up white packet 2- leave room 3- put packet in dustbin 4- Go to the table in the room 5- pick up plastic container 6- leave room Q: next 5 steps? \u003cPRED\u003eA: 1- Throw the box inside the trash bin 2- Go to the table in the room 3- Pick up paper cup 4- leave room 5- put cup in dustbin\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away all my trash at the end of the table. last 20 steps: 1- pick up white packet 2- leave room 3- put packet in dustbin 4- Go to the table in the room 5- pick up plastic container 6- leave room Q: immediate next step? \u003cPRED\u003eA: Throw the box inside the trash bin\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please throw away all my trash at the end of the table Q: immediate next step? \u003cPRED\u003eA: Throw the box inside the trash bin\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Throw the box inside the trash bin\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nThrow the box inside the trash bin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nThrow the box inside the trash bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16314946185157790200.mp4"}
+{"uid":"9658132334630122025","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: leave room\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nleave room Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3881262361843941125.mp4"}
+{"uid":"17176482953722570981","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away all my trash at the end of the table. last 20 steps: 1- pick up white packet 2- leave room 3- put packet in dustbin 4- Go to the table in the room 5- pick up plastic container 6- leave room 7- put plastic box in dustbin 8- Go to the table in the room Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up paper cup 2- leave room 3- put cup in dustbin 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away all my trash at the end of the table. last 20 steps: 1- pick up white packet 2- leave room 3- put packet in dustbin 4- Go to the table in the room 5- pick up plastic container 6- leave room 7- put plastic box in dustbin 8- Go to the table in the room Q: immediate next step? \u003cPRED\u003eA: Pick up paper cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up paper cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please throw away all my trash at the end of the table Q: immediate next step? \u003cPRED\u003eA: Pick up paper cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up paper cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up paper cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up paper cup\n\u003c/PRED\u003e","video":"8820099303592383799.mp4"}
+{"uid":"15233459618569832617","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the blue cup on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16940753751413722238.mp4"}
+{"uid":"9407149455208641692","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the red bull can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5738734819126012056.mp4"}
+{"uid":"7004398674922013398","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away all my trash at the end of the table. last 20 steps: 1- pick up white packet 2- leave room 3- put packet in dustbin 4- Go to the table in the room 5- pick up plastic container 6- leave room 7- put plastic box in dustbin 8- Go to the table in the room 9- Pick up paper cup Q: next 5 steps? \u003cPRED\u003eA: 1- Throw paper cup in the trash bin 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Throw paper cup in the trash bin\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Throw paper cup in the trash bin\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please throw away all my trash at the end of the table Q: immediate next step? \u003cPRED\u003eA: Throw paper cup in the trash bin\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away all my trash at the end of the table. last 20 steps: 1- pick up white packet 2- leave room 3- put packet in dustbin 4- Go to the table in the room 5- pick up plastic container 6- leave room 7- put plastic box in dustbin 8- Go to the table in the room 9- Pick up paper cup Q: immediate next step? \u003cPRED\u003eA: Throw paper cup in the trash bin\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nThrow paper cup in the trash bin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nThrow paper cup in the trash bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16503726866149907387.mp4"}
+{"uid":"12758598554377957924","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack the glasses Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4473342499885651249.mp4"}
+{"uid":"4956742159975345950","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Throw paper cup in the trash bin\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nThrow paper cup in the trash bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please throw away all my trash at the end of the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away all my trash at the end of the table. last 20 steps: 1- pick up white packet 2- leave room 3- put packet in dustbin 4- Go to the table in the room 5- pick up plastic container 6- leave room 7- put plastic box in dustbin 8- Go to the table in the room 9- Pick up paper cup 10- Throw paper cup in the trash bin Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away all my trash at the end of the table. last 20 steps: 1- pick up white packet 2- leave room 3- put packet in dustbin 4- Go to the table in the room 5- pick up plastic container 6- leave room 7- put plastic box in dustbin 8- Go to the table in the room 9- Pick up paper cup 10- Throw paper cup in the trash bin Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"3643895360167910334.mp4"}
+{"uid":"16355596845079351932","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away all my trash at the end of the table. last 20 steps: 1- pick up white packet 2- leave room 3- put packet in dustbin Q: next 5 steps? \u003cPRED\u003eA: 1- Go to the table in the room 2- pick up plastic container 3- leave room 4- put plastic box in dustbin 5- Go to the table in the room\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please throw away all my trash at the end of the table Q: immediate next step? \u003cPRED\u003eA: Go to the table in the room\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Go to the table in the room\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nGo to the table in the room Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nGo to the table in the room Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Go to the table in the room\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away all my trash at the end of the table. last 20 steps: 1- pick up white packet 2- leave room 3- put packet in dustbin Q: immediate next step? \u003cPRED\u003eA: Go to the table in the room\n\u003c/PRED\u003e","video":"11974927811830102038.mp4"}
+{"uid":"12888285941683345908","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput candy in tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9192572561179100434.mp4"}
+{"uid":"15454866083266141768","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop the carrot in the red bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3563313011474307864.mp4"}
+{"uid":"9522903458716636596","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Pick the plastic box from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPick the plastic box from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9491020485128015366.mp4"}
+{"uid":"3146334781804719838","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up plastic container\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up plastic container\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up plastic container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away all my trash at the end of the table. last 20 steps: 1- pick up white packet 2- leave room 3- put packet in dustbin 4- Go to the table in the room Q: immediate next step? \u003cPRED\u003eA: pick up plastic container\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please throw away all my trash at the end of the table Q: immediate next step? \u003cPRED\u003eA: pick up plastic container\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up plastic container Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away all my trash at the end of the table. last 20 steps: 1- pick up white packet 2- leave room 3- put packet in dustbin 4- Go to the table in the room Q: next 5 steps? \u003cPRED\u003eA: 1- pick up plastic container 2- leave room 3- put plastic box in dustbin 4- Go to the table in the room 5- Pick up paper cup\n\u003c/PRED\u003e","video":"1506850931000345841.mp4"}
+{"uid":"830589072038908062","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away all my trash at the end of the table. last 20 steps: 1- pick up white packet Q: next 5 steps? \u003cPRED\u003eA: 1- Throw white packet in the trash bin 2- Go to the table in the room 3- pick up plastic container 4- leave room 5- put plastic box in dustbin\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nThrow white packet in the trash bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Throw white packet in the trash bin\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away all my trash at the end of the table. last 20 steps: 1- pick up white packet Q: immediate next step? \u003cPRED\u003eA: Throw white packet in the trash bin\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nThrow white packet in the trash bin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Throw white packet in the trash bin\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please throw away all my trash at the end of the table Q: immediate next step? \u003cPRED\u003eA: Throw white packet in the trash bin\n\u003c/PRED\u003e","video":"10492485662684182531.mp4"}
+{"uid":"10062965764582467434","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away all my trash at the end of the table. last 20 steps: 1- pick up white packet 2- leave room 3- put packet in dustbin 4- Go to the table in the room 5- pick up plastic container 6- leave room 7- put plastic box in dustbin 8- Go to the table in the room 9- Pick up paper cup Q: next 5 steps? \u003cPRED\u003eA: 1- Leave the room 2- put cup in dustbin 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Leave the room\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please throw away all my trash at the end of the table Q: immediate next step? \u003cPRED\u003eA: Leave the room\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Leave the room\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nLeave the room Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nLeave the room Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away all my trash at the end of the table. last 20 steps: 1- pick up white packet 2- leave room 3- put packet in dustbin 4- Go to the table in the room 5- pick up plastic container 6- leave room 7- put plastic box in dustbin 8- Go to the table in the room 9- Pick up paper cup Q: immediate next step? \u003cPRED\u003eA: Leave the room\n\u003c/PRED\u003e","video":"10093161169303864131.mp4"}
+{"uid":"1955531136198222006","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: leave room\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away all my trash at the end of the table. last 20 steps: 1- pick up white packet 2- leave room 3- put packet in dustbin 4- Go to the table in the room 5- pick up plastic container Q: immediate next step? \u003cPRED\u003eA: leave room\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away all my trash at the end of the table. last 20 steps: 1- pick up white packet 2- leave room 3- put packet in dustbin 4- Go to the table in the room 5- pick up plastic container Q: next 5 steps? \u003cPRED\u003eA: 1- leave room 2- put plastic box in dustbin 3- Go to the table in the room 4- Pick up paper cup 5- leave room\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please throw away all my trash at the end of the table Q: immediate next step? \u003cPRED\u003eA: leave room\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nleave room Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: leave room\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nleave room Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6963512441216257880.mp4"}
+{"uid":"13779571864133680589","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the blue chip bag in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17051677109348162811.mp4"}
+{"uid":"7654854449766002840","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the apple in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1568067651676774491.mp4"}
+{"uid":"15053242478768232352","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: leave room\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nleave room Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: leave room\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away all my trash at the end of the table. last 20 steps: 1- pick up white packet 2- leave room 3- put packet in dustbin 4- Go to the table in the room 5- pick up plastic container 6- leave room 7- put plastic box in dustbin 8- Go to the table in the room 9- Pick up paper cup Q: immediate next step? \u003cPRED\u003eA: leave room\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nleave room Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away all my trash at the end of the table. last 20 steps: 1- pick up white packet 2- leave room 3- put packet in dustbin 4- Go to the table in the room 5- pick up plastic container 6- leave room 7- put plastic box in dustbin 8- Go to the table in the room 9- Pick up paper cup Q: next 5 steps? \u003cPRED\u003eA: 1- leave room 2- put cup in dustbin 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please throw away all my trash at the end of the table Q: immediate next step? \u003cPRED\u003eA: leave room\n\u003c/PRED\u003e","video":"5642524443763574164.mp4"}
+{"uid":"13066732758310684559","text":"\u003ctask:success:discrete:False\u003e\nGo to the table in the room Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please throw away all my trash at the end of the table Q: immediate next step? \u003cPRED\u003eA: Go to the table in the room\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Go to the table in the room\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away all my trash at the end of the table. last 20 steps: 1- pick up white packet 2- leave room 3- put packet in dustbin 4- Go to the table in the room 5- pick up plastic container 6- leave room 7- put plastic box in dustbin Q: immediate next step? \u003cPRED\u003eA: Go to the table in the room\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Go to the table in the room\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nGo to the table in the room Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away all my trash at the end of the table. last 20 steps: 1- pick up white packet 2- leave room 3- put packet in dustbin 4- Go to the table in the room 5- pick up plastic container 6- leave room 7- put plastic box in dustbin Q: next 5 steps? \u003cPRED\u003eA: 1- Go to the table in the room 2- Pick up paper cup 3- leave room 4- put cup in dustbin 5- done\n\u003c/PRED\u003e","video":"18026937304815431050.mp4"}
+{"uid":"18326535203563567090","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the orange pen in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3883133078429433108.mp4"}
+{"uid":"17522164510723906656","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away all my trash at the end of the table. last 20 steps: 1- pick up white packet 2- leave room 3- put packet in dustbin Q: immediate next step? \u003cPRED\u003eA: Enter the room\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Enter the room\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away all my trash at the end of the table. last 20 steps: 1- pick up white packet 2- leave room 3- put packet in dustbin Q: next 5 steps? \u003cPRED\u003eA: 1- Enter the room 2- pick up plastic container 3- leave room 4- put plastic box in dustbin 5- Go to the table in the room\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please throw away all my trash at the end of the table Q: immediate next step? \u003cPRED\u003eA: Enter the room\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nEnter the room Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nEnter the room Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Enter the room\n\u003c/PRED\u003e","video":"6813135970532301035.mp4"}
+{"uid":"2169180910216018473","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Leave the room\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please throw away all my trash at the end of the table Q: immediate next step? \u003cPRED\u003eA: Leave the room\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away all my trash at the end of the table. last 20 steps: 1- pick up white packet Q: immediate next step? \u003cPRED\u003eA: Leave the room\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nLeave the room Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nLeave the room Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away all my trash at the end of the table. last 20 steps: 1- pick up white packet Q: next 5 steps? \u003cPRED\u003eA: 1- Leave the room 2- Go to the table in the room 3- pick up plastic container 4- leave room 5- put plastic box in dustbin\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Leave the room\n\u003c/PRED\u003e","video":"10110764333504777197.mp4"}
+{"uid":"8508904073614301769","text":"\u003ctask:success:discrete:False\u003e\nThrow the cup inside the trash bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nThrow the cup inside the trash bin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away all my trash at the end of the table. last 20 steps: 1- pick up white packet 2- leave room 3- put packet in dustbin 4- Go to the table in the room 5- pick up plastic container 6- leave room 7- put plastic box in dustbin 8- Go to the table in the room 9- Pick up paper cup 10- leave room Q: immediate next step? \u003cPRED\u003eA: Throw the cup inside the trash bin\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please throw away all my trash at the end of the table Q: immediate next step? \u003cPRED\u003eA: Throw the cup inside the trash bin\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Throw the cup inside the trash bin\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away all my trash at the end of the table. last 20 steps: 1- pick up white packet 2- leave room 3- put packet in dustbin 4- Go to the table in the room 5- pick up plastic container 6- leave room 7- put plastic box in dustbin 8- Go to the table in the room 9- Pick up paper cup 10- leave room Q: next 5 steps? \u003cPRED\u003eA: 1- Throw the cup inside the trash bin 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Throw the cup inside the trash bin\n\u003c/PRED\u003e","video":"13986272739224569324.mp4"}
+{"uid":"9155825015334031969","text":"\u003ctask:success:discrete:True\u003e\nThrow the cup inside the trash bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Throw the cup inside the trash bin\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please throw away all my trash at the end of the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away all my trash at the end of the table. last 20 steps: 1- pick up white packet 2- leave room 3- put packet in dustbin 4- Go to the table in the room 5- pick up plastic container 6- leave room 7- put plastic box in dustbin 8- Go to the table in the room 9- Pick up paper cup 10- leave room 11- Throw the cup inside the trash bin Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away all my trash at the end of the table. last 20 steps: 1- pick up white packet 2- leave room 3- put packet in dustbin 4- Go to the table in the room 5- pick up plastic container 6- leave room 7- put plastic box in dustbin 8- Go to the table in the room 9- Pick up paper cup 10- leave room 11- Throw the cup inside the trash bin Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"13481435360168336192.mp4"}
+{"uid":"8310146541929251040","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: leave room\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away all my trash at the end of the table. last 20 steps: 1- pick up white packet Q: next 5 steps? \u003cPRED\u003eA: 1- leave room 2- put packet in dustbin 3- Go to the table in the room 4- pick up plastic container 5- leave room\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nleave room Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nleave room Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away all my trash at the end of the table. last 20 steps: 1- pick up white packet Q: immediate next step? \u003cPRED\u003eA: leave room\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: leave room\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please throw away all my trash at the end of the table Q: immediate next step? \u003cPRED\u003eA: leave room\n\u003c/PRED\u003e","video":"763161824366100871.mp4"}
+{"uid":"18122806569066360995","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Throw white packet in the trash bin\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nThrow white packet in the trash bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10963254064618863081.mp4"}
+{"uid":"3315088771332062036","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput plastic box in dustbin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put plastic box in dustbin\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput plastic box in dustbin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put plastic box in dustbin\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away all my trash at the end of the table. last 20 steps: 1- pick up white packet 2- leave room 3- put packet in dustbin 4- Go to the table in the room 5- pick up plastic container 6- leave room Q: immediate next step? \u003cPRED\u003eA: put plastic box in dustbin\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please throw away all my trash at the end of the table Q: immediate next step? \u003cPRED\u003eA: put plastic box in dustbin\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away all my trash at the end of the table. last 20 steps: 1- pick up white packet 2- leave room 3- put packet in dustbin 4- Go to the table in the room 5- pick up plastic container 6- leave room Q: next 5 steps? \u003cPRED\u003eA: 1- put plastic box in dustbin 2- Go to the table in the room 3- Pick up paper cup 4- leave room 5- put cup in dustbin\n\u003c/PRED\u003e","video":"14719976141055840915.mp4"}
+{"uid":"17447423792555335745","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Pick the coffee cup from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPick the coffee cup from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8620985352882797985.mp4"}
+{"uid":"4172296137996468287","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the pink cup on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15574099233250459351.mp4"}
+{"uid":"8285228862516594451","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the sticky notes in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7080803937230450501.mp4"}
+{"uid":"17416947563815286635","text":"\u003ctask:success:discrete:True\u003e\nleave room Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: leave room\n\u003c/PRED\u003e","video":"17216562200086633215.mp4"}
+{"uid":"10214508951009974523","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away all my trash at the end of the table. last 20 steps: 1- pick up white packet 2- leave room 3- put packet in dustbin 4- Go to the table in the room 5- pick up plastic container 6- leave room 7- put plastic box in dustbin 8- Go to the table in the room Q: next 5 steps? \u003cPRED\u003eA: 1- Pick the coffee cup from the table 2- put cup in dustbin 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick the coffee cup from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick the coffee cup from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please throw away all my trash at the end of the table Q: immediate next step? \u003cPRED\u003eA: Pick the coffee cup from the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick the coffee cup from the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick the coffee cup from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away all my trash at the end of the table. last 20 steps: 1- pick up white packet 2- leave room 3- put packet in dustbin 4- Go to the table in the room 5- pick up plastic container 6- leave room 7- put plastic box in dustbin 8- Go to the table in the room Q: immediate next step? \u003cPRED\u003eA: Pick the coffee cup from the table\n\u003c/PRED\u003e","video":"15891308519232724753.mp4"}
+{"uid":"11748215695775080121","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put cup in dustbin\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput cup in dustbin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please throw away all my trash at the end of the table Q: immediate next step? \u003cPRED\u003eA: put cup in dustbin\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput cup in dustbin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away all my trash at the end of the table. last 20 steps: 1- pick up white packet 2- leave room 3- put packet in dustbin 4- Go to the table in the room 5- pick up plastic container 6- leave room 7- put plastic box in dustbin 8- Go to the table in the room 9- Pick up paper cup 10- leave room Q: next 5 steps? \u003cPRED\u003eA: 1- put cup in dustbin 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away all my trash at the end of the table. last 20 steps: 1- pick up white packet 2- leave room 3- put packet in dustbin 4- Go to the table in the room 5- pick up plastic container 6- leave room 7- put plastic box in dustbin 8- Go to the table in the room 9- Pick up paper cup 10- leave room Q: immediate next step? \u003cPRED\u003eA: put cup in dustbin\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put cup in dustbin\n\u003c/PRED\u003e","video":"3387028794349589221.mp4"}
+{"uid":"9148864820677333052","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nGrasp the top blue pen Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3022858048462187371.mp4"}
+{"uid":"10014160021454097992","text":"\u003ctask:success:discrete:True\u003e\nPick the white packet from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Pick the white packet from the table\n\u003c/PRED\u003e","video":"15169116417239278013.mp4"}
+{"uid":"2806205289133316350","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the sticky notes in the container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12395283411395630481.mp4"}
+{"uid":"6685513551902537653","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet in dustbin\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away all my trash at the end of the table. last 20 steps: 1- pick up white packet 2- leave room Q: immediate next step? \u003cPRED\u003eA: put packet in dustbin\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput packet in dustbin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet in dustbin\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please throw away all my trash at the end of the table Q: immediate next step? \u003cPRED\u003eA: put packet in dustbin\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away all my trash at the end of the table. last 20 steps: 1- pick up white packet 2- leave room Q: next 5 steps? \u003cPRED\u003eA: 1- put packet in dustbin 2- Go to the table in the room 3- pick up plastic container 4- leave room 5- put plastic box in dustbin\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet in dustbin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7707099274402978439.mp4"}
+{"uid":"14974759545130670353","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the pen on the tray table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7457533629554197902.mp4"}
+{"uid":"6250199530731123797","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the packet into drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14495852025295524936.mp4"}
+{"uid":"6618985400094353686","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the pistachio in a cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12949642111882953173.mp4"}
+{"uid":"896377529026764597","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the red book on the right side of table in stack Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8074622246000643470.mp4"}
+{"uid":"9265745080696856371","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the candy on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4817902833324289282.mp4"}
+{"uid":"10814259225697276267","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the candy in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5720043225892733227.mp4"}
+{"uid":"18100674270116201699","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put packet in dustbin\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput packet in dustbin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4218222119286122433.mp4"}
+{"uid":"5481926773470083274","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away all my trash at the end of the table. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: pick up the packet\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the packet\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the packet\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the packet Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away all my trash at the end of the table. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the packet 2- leave room 3- put packet in dustbin 4- Go to the table in the room 5- pick up plastic container\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the packet Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please throw away all my trash at the end of the table Q: immediate next step? \u003cPRED\u003eA: pick up the packet\n\u003c/PRED\u003e","video":"9113154909362458397.mp4"}
+{"uid":"2005877951460453014","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away all my trash at the end of the table. last 20 steps: 1- pick up white packet 2- leave room Q: next 5 steps? \u003cPRED\u003eA: 1- Throw the packet inside the trash bin 2- Go to the table in the room 3- pick up plastic container 4- leave room 5- put plastic box in dustbin\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away all my trash at the end of the table. last 20 steps: 1- pick up white packet 2- leave room Q: immediate next step? \u003cPRED\u003eA: Throw the packet inside the trash bin\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nThrow the packet inside the trash bin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nThrow the packet inside the trash bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Throw the packet inside the trash bin\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please throw away all my trash at the end of the table Q: immediate next step? \u003cPRED\u003eA: Throw the packet inside the trash bin\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Throw the packet inside the trash bin\n\u003c/PRED\u003e","video":"2080956281544182323.mp4"}
+{"uid":"2021395517616812490","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the plastic box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the plastic box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away all my trash at the end of the table. last 20 steps: 1- pick up white packet 2- leave room 3- put packet in dustbin 4- Go to the table in the room Q: immediate next step? \u003cPRED\u003eA: pick up the plastic box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the plastic box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the plastic box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away all my trash at the end of the table. last 20 steps: 1- pick up white packet 2- leave room 3- put packet in dustbin 4- Go to the table in the room Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the plastic box 2- leave room 3- put plastic box in dustbin 4- Go to the table in the room 5- Pick up paper cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please throw away all my trash at the end of the table Q: immediate next step? \u003cPRED\u003eA: pick up the plastic box\n\u003c/PRED\u003e","video":"15046228434071758684.mp4"}
+{"uid":"16587301704833612968","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the the orange in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9342451845812453235.mp4"}
+{"uid":"1108339254181997659","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput a pink packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9090020508923207888.mp4"}
+{"uid":"4218972084100372846","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the apple on the brown table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the apple on the brown table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4426905700840484766.mp4"}
+{"uid":"11257604099401175760","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place an orange inside the white bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the fruits from the top draw then place them in the bowl. Then distribute them to tables in mk. last 20 steps: 1- Open drawer 2- Place an apple inside the white bowl 3- Place an apple inside the white bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Place an orange inside the white bowl 2- Place an apple inside the white bowl 3- Place an apple inside the white bowl 4- Place an orange inside the white bowl 5- Place an orange inside the white bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the fruits from the top draw then place them in the bowl. Then distribute them to tables in mk. last 20 steps: 1- Open drawer 2- Place an apple inside the white bowl 3- Place an apple inside the white bowl Q: immediate next step? \u003cPRED\u003eA: Place an orange inside the white bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place an orange inside the white bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove the fruits from the top draw then place them in the bowl. Then distribute them to tables in mk. Q: immediate next step? \u003cPRED\u003eA: Place an orange inside the white bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace an orange inside the white bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace an orange inside the white bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9187714402862792491.mp4"}
+{"uid":"17266298262870689647","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please stack candy into the white tray. last 20 steps: 1- place the pink packet in the tray 2- place the pink packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place the pink packet in the tray 2- place the pink packet in the tray 3- place the pink packet in the tray 4- place the pink packet in the tray 5- place the orange packet in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the pink packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please stack candy into the white tray Q: immediate next step? \u003cPRED\u003eA: place the pink packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the pink packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please stack candy into the white tray. last 20 steps: 1- place the pink packet in the tray 2- place the pink packet in the tray Q: immediate next step? \u003cPRED\u003eA: place the pink packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the pink packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the pink packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10081415726499103489.mp4"}
+{"uid":"11415295392734313967","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the green candy in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16042544725459512020.mp4"}
+{"uid":"8771668605470094638","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the pink packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please stack candy into the white tray Q: immediate next step? \u003cPRED\u003eA: place the pink packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the pink packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the pink packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please stack candy into the white tray. last 20 steps: 1- place the pink packet in the tray 2- place the pink packet in the tray 3- place the pink packet in the tray 4- place the pink packet in the tray 5- place the pink packet in the tray Q: immediate next step? \u003cPRED\u003eA: place the pink packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please stack candy into the white tray. last 20 steps: 1- place the pink packet in the tray 2- place the pink packet in the tray 3- place the pink packet in the tray 4- place the pink packet in the tray 5- place the pink packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place the pink packet in the tray 2- place the orange packet in the tray 3- place the orange packet in the tray 4- place the orange packet in the tray 5- place the orange packet in the tray\n\u003c/PRED\u003e","video":"15469779747821399496.mp4"}
+{"uid":"6171853013416236607","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the white packet in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16845051857948206809.mp4"}
+{"uid":"3048524875435857635","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the brown packet inside the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7054166003757747594.mp4"}
+{"uid":"3187574171853878231","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrive towards the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17242908684398487942.mp4"}
+{"uid":"4674514676729475313","text":"\u003ctask:success:discrete:False\u003e\nPlace the apple on the brown table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove the fruits from the top draw then place them in the bowl. Then distribute them to tables in mk. Q: immediate next step? \u003cPRED\u003eA: Place the apple on the brown table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the apple on the brown table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the apple on the brown table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the fruits from the top draw then place them in the bowl. Then distribute them to tables in mk. last 20 steps: 1- Open drawer 2- Place an apple inside the white bowl 3- Place an apple inside the white bowl 4- Place an orange inside the white bowl 5- Place an apple inside the white bowl 6- Place an apple inside the white bowl 7- Place an orange inside the white bowl 8- Place an orange inside the white bowl 9- Close the drawer 10- Place the orange on the white table 11- Place the orange on the white table 12- Place the apple on the white table 13- Place the apple on the white table 14- Place the orange on the brown table 15- Place the apple on the brown table Q: next 5 steps? \u003cPRED\u003eA: 1- Place the apple on the brown table 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the apple on the brown table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the fruits from the top draw then place them in the bowl. Then distribute them to tables in mk. last 20 steps: 1- Open drawer 2- Place an apple inside the white bowl 3- Place an apple inside the white bowl 4- Place an orange inside the white bowl 5- Place an apple inside the white bowl 6- Place an apple inside the white bowl 7- Place an orange inside the white bowl 8- Place an orange inside the white bowl 9- Close the drawer 10- Place the orange on the white table 11- Place the orange on the white table 12- Place the apple on the white table 13- Place the apple on the white table 14- Place the orange on the brown table 15- Place the apple on the brown table Q: immediate next step? \u003cPRED\u003eA: Place the apple on the brown table\n\u003c/PRED\u003e","video":"10635634844365191498.mp4"}
+{"uid":"15976513562045562623","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the orange on the white table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the orange on the white table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove the fruits from the top draw then place them in the bowl. Then distribute them to tables in mk. Q: immediate next step? \u003cPRED\u003eA: Place the orange on the white table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the fruits from the top draw then place them in the bowl. Then distribute them to tables in mk. last 20 steps: 1- Open drawer 2- Place an apple inside the white bowl 3- Place an apple inside the white bowl 4- Place an orange inside the white bowl 5- Place an apple inside the white bowl 6- Place an apple inside the white bowl 7- Place an orange inside the white bowl 8- Place an orange inside the white bowl 9- Close the drawer Q: immediate next step? \u003cPRED\u003eA: Place the orange on the white table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the fruits from the top draw then place them in the bowl. Then distribute them to tables in mk. last 20 steps: 1- Open drawer 2- Place an apple inside the white bowl 3- Place an apple inside the white bowl 4- Place an orange inside the white bowl 5- Place an apple inside the white bowl 6- Place an apple inside the white bowl 7- Place an orange inside the white bowl 8- Place an orange inside the white bowl 9- Close the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- Place the orange on the white table 2- Place the orange on the white table 3- Place the apple on the white table 4- Place the apple on the white table 5- Place the orange on the brown table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the orange on the white table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the orange on the white table\n\u003c/PRED\u003e","video":"3857057295097867292.mp4"}
+{"uid":"325625582079495780","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput candy in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14082816120234998346.mp4"}
+{"uid":"13602012834112004431","text":"\u003ctask:success:discrete:True\u003e\nPlace the apple on the white table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the apple on the white table\n\u003c/PRED\u003e","video":"238844498170244190.mp4"}
+{"uid":"16140361752084490134","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the fruits from the top draw then place them in the bowl. Then distribute them to tables in mk. last 20 steps: 1- Open drawer 2- Place an apple inside the white bowl 3- Place an apple inside the white bowl 4- Place an orange inside the white bowl 5- Place an apple inside the white bowl 6- Place an apple inside the white bowl 7- Place an orange inside the white bowl 8- Place an orange inside the white bowl 9- Close the drawer 10- Place the orange on the white table 11- Place the orange on the white table 12- Place the apple on the white table 13- Place the apple on the white table 14- Place the orange on the brown table 15- Place the apple on the brown table 16- Place the apple on the brown table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the apple on the brown table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the apple on the brown table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the fruits from the top draw then place them in the bowl. Then distribute them to tables in mk. last 20 steps: 1- Open drawer 2- Place an apple inside the white bowl 3- Place an apple inside the white bowl 4- Place an orange inside the white bowl 5- Place an apple inside the white bowl 6- Place an apple inside the white bowl 7- Place an orange inside the white bowl 8- Place an orange inside the white bowl 9- Close the drawer 10- Place the orange on the white table 11- Place the orange on the white table 12- Place the apple on the white table 13- Place the apple on the white table 14- Place the orange on the brown table 15- Place the apple on the brown table 16- Place the apple on the brown table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove the fruits from the top draw then place them in the bowl. Then distribute them to tables in mk. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"13114394254515696877.mp4"}
+{"uid":"8474707382764069863","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the fruits from the top draw then place them in the bowl. Then distribute them to tables in mk. last 20 steps: 1- Open drawer 2- Place an apple inside the white bowl 3- Place an apple inside the white bowl 4- Place an orange inside the white bowl 5- Place an apple inside the white bowl 6- Place an apple inside the white bowl 7- Place an orange inside the white bowl 8- Place an orange inside the white bowl 9- Close the drawer 10- Place the orange on the white table Q: next 5 steps? \u003cPRED\u003eA: 1- Place the orange on the white table 2- Place the apple on the white table 3- Place the apple on the white table 4- Place the orange on the brown table 5- Place the apple on the brown table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the fruits from the top draw then place them in the bowl. Then distribute them to tables in mk. last 20 steps: 1- Open drawer 2- Place an apple inside the white bowl 3- Place an apple inside the white bowl 4- Place an orange inside the white bowl 5- Place an apple inside the white bowl 6- Place an apple inside the white bowl 7- Place an orange inside the white bowl 8- Place an orange inside the white bowl 9- Close the drawer 10- Place the orange on the white table Q: immediate next step? \u003cPRED\u003eA: Place the orange on the white table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the orange on the white table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the orange on the white table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the orange on the white table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove the fruits from the top draw then place them in the bowl. Then distribute them to tables in mk. Q: immediate next step? \u003cPRED\u003eA: Place the orange on the white table\n\u003c/PRED\u003e","video":"9233032028984088105.mp4"}
+{"uid":"15405700479052872977","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove the fruits from the top draw then place them in the bowl. Then distribute them to tables in mk. Q: immediate next step? \u003cPRED\u003eA: Place the apple on the white table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the apple on the white table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the fruits from the top draw then place them in the bowl. Then distribute them to tables in mk. last 20 steps: 1- Open drawer 2- Place an apple inside the white bowl 3- Place an apple inside the white bowl 4- Place an orange inside the white bowl 5- Place an apple inside the white bowl 6- Place an apple inside the white bowl 7- Place an orange inside the white bowl 8- Place an orange inside the white bowl 9- Close the drawer 10- Place the orange on the white table 11- Place the orange on the white table 12- Place the apple on the white table Q: next 5 steps? \u003cPRED\u003eA: 1- Place the apple on the white table 2- Place the orange on the brown table 3- Place the apple on the brown table 4- Place the apple on the brown table 5- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the apple on the white table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the fruits from the top draw then place them in the bowl. Then distribute them to tables in mk. last 20 steps: 1- Open drawer 2- Place an apple inside the white bowl 3- Place an apple inside the white bowl 4- Place an orange inside the white bowl 5- Place an apple inside the white bowl 6- Place an apple inside the white bowl 7- Place an orange inside the white bowl 8- Place an orange inside the white bowl 9- Close the drawer 10- Place the orange on the white table 11- Place the orange on the white table 12- Place the apple on the white table Q: immediate next step? \u003cPRED\u003eA: Place the apple on the white table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the apple on the white table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the apple on the white table\n\u003c/PRED\u003e","video":"3500468207537572692.mp4"}
+{"uid":"12303832313680104034","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"131506250811654751.mp4"}
+{"uid":"4413793152736977061","text":"\u003ctask:success:discrete:True\u003e\nPlace the apple on the white table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the apple on the white table\n\u003c/PRED\u003e","video":"4726152733835478129.mp4"}
+{"uid":"6061531508687977956","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove the fruits from the top draw then place them in the bowl. Then distribute them to tables in mk. Q: immediate next step? \u003cPRED\u003eA: Place an apple inside the white bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the fruits from the top draw then place them in the bowl. Then distribute them to tables in mk. last 20 steps: 1- Open drawer 2- Place an apple inside the white bowl 3- Place an apple inside the white bowl 4- Place an orange inside the white bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Place an apple inside the white bowl 2- Place an apple inside the white bowl 3- Place an orange inside the white bowl 4- Place an orange inside the white bowl 5- Close the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace an apple inside the white bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace an apple inside the white bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place an apple inside the white bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place an apple inside the white bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the fruits from the top draw then place them in the bowl. Then distribute them to tables in mk. last 20 steps: 1- Open drawer 2- Place an apple inside the white bowl 3- Place an apple inside the white bowl 4- Place an orange inside the white bowl Q: immediate next step? \u003cPRED\u003eA: Place an apple inside the white bowl\n\u003c/PRED\u003e","video":"14918531411272414951.mp4"}
+{"uid":"16789644262479691413","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove to the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9595928697032482182.mp4"}
+{"uid":"6321277818442393205","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput spoons in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11692617237455821911.mp4"}
+{"uid":"8264111639817965222","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop candy into organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12238650796977433964.mp4"}
+{"uid":"1713030460066828693","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pen holder into the cardboard box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10116563132689891517.mp4"}
+{"uid":"1904566155418613355","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack the packet Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7687678845358486104.mp4"}
+{"uid":"13688178963650421037","text":"\u003ctask:success:discrete:True\u003e\nPlace the orange on the brown table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the orange on the brown table\n\u003c/PRED\u003e","video":"17561919218878650933.mp4"}
+{"uid":"6198084632456622979","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the orange packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please stack candy into the white tray. last 20 steps: 1- place the pink packet in the tray 2- place the pink packet in the tray 3- place the pink packet in the tray 4- place the pink packet in the tray 5- place the pink packet in the tray 6- place the pink packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place the orange packet in the tray 2- place the orange packet in the tray 3- place the orange packet in the tray 4- place the orange packet in the tray 5- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the orange packet in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the orange packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the orange packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please stack candy into the white tray Q: immediate next step? \u003cPRED\u003eA: place the orange packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please stack candy into the white tray. last 20 steps: 1- place the pink packet in the tray 2- place the pink packet in the tray 3- place the pink packet in the tray 4- place the pink packet in the tray 5- place the pink packet in the tray 6- place the pink packet in the tray Q: immediate next step? \u003cPRED\u003eA: place the orange packet in the tray\n\u003c/PRED\u003e","video":"3477480715812190620.mp4"}
+{"uid":"14603822873272117662","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the orange packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the orange packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please stack candy into the white tray. last 20 steps: 1- place the pink packet in the tray 2- place the pink packet in the tray 3- place the pink packet in the tray 4- place the pink packet in the tray 5- place the pink packet in the tray 6- place the pink packet in the tray 7- place the orange packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place the orange packet in the tray 2- place the orange packet in the tray 3- place the orange packet in the tray 4- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the orange packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please stack candy into the white tray. last 20 steps: 1- place the pink packet in the tray 2- place the pink packet in the tray 3- place the pink packet in the tray 4- place the pink packet in the tray 5- place the pink packet in the tray 6- place the pink packet in the tray 7- place the orange packet in the tray Q: immediate next step? \u003cPRED\u003eA: place the orange packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please stack candy into the white tray Q: immediate next step? \u003cPRED\u003eA: place the orange packet in the tray\n\u003c/PRED\u003e","video":"5670084141642201905.mp4"}
+{"uid":"12216582928088142230","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the apple on the brown table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the apple on the brown table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the fruits from the top draw then place them in the bowl. Then distribute them to tables in mk. last 20 steps: 1- Open drawer 2- Place an apple inside the white bowl 3- Place an apple inside the white bowl 4- Place an orange inside the white bowl 5- Place an apple inside the white bowl 6- Place an apple inside the white bowl 7- Place an orange inside the white bowl 8- Place an orange inside the white bowl 9- Close the drawer 10- Place the orange on the white table 11- Place the orange on the white table 12- Place the apple on the white table 13- Place the apple on the white table 14- Place the orange on the brown table Q: immediate next step? \u003cPRED\u003eA: Place the apple on the brown table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the apple on the brown table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove the fruits from the top draw then place them in the bowl. Then distribute them to tables in mk. Q: immediate next step? \u003cPRED\u003eA: Place the apple on the brown table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the fruits from the top draw then place them in the bowl. Then distribute them to tables in mk. last 20 steps: 1- Open drawer 2- Place an apple inside the white bowl 3- Place an apple inside the white bowl 4- Place an orange inside the white bowl 5- Place an apple inside the white bowl 6- Place an apple inside the white bowl 7- Place an orange inside the white bowl 8- Place an orange inside the white bowl 9- Close the drawer 10- Place the orange on the white table 11- Place the orange on the white table 12- Place the apple on the white table 13- Place the apple on the white table 14- Place the orange on the brown table Q: next 5 steps? \u003cPRED\u003eA: 1- Place the apple on the brown table 2- Place the apple on the brown table 3- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the apple on the brown table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2307235801117773125.mp4"}
+{"uid":"6302501753823300341","text":"\u003ctask:success:discrete:False\u003e\nPlace an apple inside the white bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove the fruits from the top draw then place them in the bowl. Then distribute them to tables in mk. Q: immediate next step? \u003cPRED\u003eA: Place an apple inside the white bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the fruits from the top draw then place them in the bowl. Then distribute them to tables in mk. last 20 steps: 1- Open drawer 2- Place an apple inside the white bowl 3- Place an apple inside the white bowl 4- Place an orange inside the white bowl 5- Place an apple inside the white bowl Q: immediate next step? \u003cPRED\u003eA: Place an apple inside the white bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place an apple inside the white bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the fruits from the top draw then place them in the bowl. Then distribute them to tables in mk. last 20 steps: 1- Open drawer 2- Place an apple inside the white bowl 3- Place an apple inside the white bowl 4- Place an orange inside the white bowl 5- Place an apple inside the white bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Place an apple inside the white bowl 2- Place an orange inside the white bowl 3- Place an orange inside the white bowl 4- Close the drawer 5- Place the orange on the white table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place an apple inside the white bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace an apple inside the white bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7572175432463735375.mp4"}
+{"uid":"514926251960308066","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please stack candy into the white tray. last 20 steps: 1- place the pink packet in the tray 2- place the pink packet in the tray 3- place the pink packet in the tray 4- place the pink packet in the tray 5- place the pink packet in the tray 6- place the pink packet in the tray 7- place the orange packet in the tray 8- place the orange packet in the tray 9- place the orange packet in the tray 10- place the orange packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the orange packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please stack candy into the white tray. last 20 steps: 1- place the pink packet in the tray 2- place the pink packet in the tray 3- place the pink packet in the tray 4- place the pink packet in the tray 5- place the pink packet in the tray 6- place the pink packet in the tray 7- place the orange packet in the tray 8- place the orange packet in the tray 9- place the orange packet in the tray 10- place the orange packet in the tray Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please stack candy into the white tray Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the orange packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15398646050682249027.mp4"}
+{"uid":"1042832257843024214","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the pink packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please stack candy into the white tray. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place the pink packet in the tray 2- place the pink packet in the tray 3- place the pink packet in the tray 4- place the pink packet in the tray 5- place the pink packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the pink packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please stack candy into the white tray Q: immediate next step? \u003cPRED\u003eA: place the pink packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please stack candy into the white tray. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place the pink packet in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the pink packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the pink packet in the tray\n\u003c/PRED\u003e","video":"5151664217901773385.mp4"}
+{"uid":"173978981171848589","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick the 2 number object Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12012324528134296107.mp4"}
+{"uid":"2123101013066052118","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput apple in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10724719425247030849.mp4"}
+{"uid":"16145447503605856767","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ngrab the highlighters glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15766739306655015042.mp4"}
+{"uid":"7373854592987664242","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the fruits from the top draw then place them in the bowl. Then distribute them to tables in mk. last 20 steps: 1- Open drawer Q: immediate next step? \u003cPRED\u003eA: Place an apple inside the white bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace an apple inside the white bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the fruits from the top draw then place them in the bowl. Then distribute them to tables in mk. last 20 steps: 1- Open drawer Q: next 5 steps? \u003cPRED\u003eA: 1- Place an apple inside the white bowl 2- Place an apple inside the white bowl 3- Place an orange inside the white bowl 4- Place an apple inside the white bowl 5- Place an apple inside the white bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place an apple inside the white bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove the fruits from the top draw then place them in the bowl. Then distribute them to tables in mk. Q: immediate next step? \u003cPRED\u003eA: Place an apple inside the white bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place an apple inside the white bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace an apple inside the white bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7753033853817026797.mp4"}
+{"uid":"7923397198859258982","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Open drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the fruits from the top draw then place them in the bowl. Then distribute them to tables in mk. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Open drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nOpen drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nOpen drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove the fruits from the top draw then place them in the bowl. Then distribute them to tables in mk. Q: immediate next step? \u003cPRED\u003eA: Open drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the fruits from the top draw then place them in the bowl. Then distribute them to tables in mk. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Open drawer 2- Place an apple inside the white bowl 3- Place an apple inside the white bowl 4- Place an orange inside the white bowl 5- Place an apple inside the white bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Open drawer\n\u003c/PRED\u003e","video":"2198089476937169573.mp4"}
+{"uid":"1204952263267663649","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place an apple inside the white bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace an apple inside the white bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1624741923759319338.mp4"}
+{"uid":"2043098188703310812","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the lid up right on the stack in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"630088351172407956.mp4"}
+{"uid":"13689769361493939380","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15662453917478893320.mp4"}
+{"uid":"6880185104055167534","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place an orange inside the white bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace an orange inside the white bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9288877301699214918.mp4"}
+{"uid":"1768393026309400292","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace water in wash basin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"55262281811855098.mp4"}
+{"uid":"4676284069583935660","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place an orange inside the white bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace an orange inside the white bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8915110046907686422.mp4"}
+{"uid":"15550386058010636244","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput white packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1063280777872853090.mp4"}
+{"uid":"15631535225652775130","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the fruits from the top draw then place them in the bowl. Then distribute them to tables in mk. last 20 steps: 1- Open drawer 2- Place an apple inside the white bowl 3- Place an apple inside the white bowl 4- Place an orange inside the white bowl 5- Place an apple inside the white bowl 6- Place an apple inside the white bowl 7- Place an orange inside the white bowl 8- Place an orange inside the white bowl 9- Close the drawer 10- Place the orange on the white table 11- Place the orange on the white table 12- Place the apple on the white table 13- Place the apple on the white table Q: next 5 steps? \u003cPRED\u003eA: 1- Place the orange on the brown table 2- Place the apple on the brown table 3- Place the apple on the brown table 4- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the orange on the brown table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the orange on the brown table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the fruits from the top draw then place them in the bowl. Then distribute them to tables in mk. last 20 steps: 1- Open drawer 2- Place an apple inside the white bowl 3- Place an apple inside the white bowl 4- Place an orange inside the white bowl 5- Place an apple inside the white bowl 6- Place an apple inside the white bowl 7- Place an orange inside the white bowl 8- Place an orange inside the white bowl 9- Close the drawer 10- Place the orange on the white table 11- Place the orange on the white table 12- Place the apple on the white table 13- Place the apple on the white table Q: immediate next step? \u003cPRED\u003eA: Place the orange on the brown table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove the fruits from the top draw then place them in the bowl. Then distribute them to tables in mk. Q: immediate next step? \u003cPRED\u003eA: Place the orange on the brown table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the orange on the brown table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the orange on the brown table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10480905542670467513.mp4"}
+{"uid":"14473377755161440771","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove the fruits from the top draw then place them in the bowl. Then distribute them to tables in mk. Q: immediate next step? \u003cPRED\u003eA: Place an apple inside the white bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place an apple inside the white bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place an apple inside the white bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the fruits from the top draw then place them in the bowl. Then distribute them to tables in mk. last 20 steps: 1- Open drawer 2- Place an apple inside the white bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Place an apple inside the white bowl 2- Place an orange inside the white bowl 3- Place an apple inside the white bowl 4- Place an apple inside the white bowl 5- Place an orange inside the white bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace an apple inside the white bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the fruits from the top draw then place them in the bowl. Then distribute them to tables in mk. last 20 steps: 1- Open drawer 2- Place an apple inside the white bowl Q: immediate next step? \u003cPRED\u003eA: Place an apple inside the white bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace an apple inside the white bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13487559678615471780.mp4"}
+{"uid":"17455439472361338852","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the pink packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the pink packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please stack candy into the white tray. last 20 steps: 1- place the pink packet in the tray 2- place the pink packet in the tray 3- place the pink packet in the tray 4- place the pink packet in the tray Q: immediate next step? \u003cPRED\u003eA: place the pink packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please stack candy into the white tray Q: immediate next step? \u003cPRED\u003eA: place the pink packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please stack candy into the white tray. last 20 steps: 1- place the pink packet in the tray 2- place the pink packet in the tray 3- place the pink packet in the tray 4- place the pink packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place the pink packet in the tray 2- place the pink packet in the tray 3- place the orange packet in the tray 4- place the orange packet in the tray 5- place the orange packet in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the pink packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the pink packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15047821083347962511.mp4"}
+{"uid":"2358558859557710219","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput orange chocolate in white tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1424766751820979590.mp4"}
+{"uid":"7172855771555072361","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please stack candy into the white tray. last 20 steps: 1- place the pink packet in the tray 2- place the pink packet in the tray 3- place the pink packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place the pink packet in the tray 2- place the pink packet in the tray 3- place the pink packet in the tray 4- place the orange packet in the tray 5- place the orange packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the pink packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the pink packet in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the pink packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please stack candy into the white tray Q: immediate next step? \u003cPRED\u003eA: place the pink packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please stack candy into the white tray. last 20 steps: 1- place the pink packet in the tray 2- place the pink packet in the tray 3- place the pink packet in the tray Q: immediate next step? \u003cPRED\u003eA: place the pink packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the pink packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3589604736084306087.mp4"}
+{"uid":"5607761577006000382","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place an orange inside the white bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace an orange inside the white bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2727706504540574126.mp4"}
+{"uid":"15549374028067042138","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the paper glass into the dustbin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10012528565325229352.mp4"}
+{"uid":"2777609997456901777","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove the fruits from the top draw then place them in the bowl. Then distribute them to tables in mk. Q: immediate next step? \u003cPRED\u003eA: Place the apple on the white table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the apple on the white table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the fruits from the top draw then place them in the bowl. Then distribute them to tables in mk. last 20 steps: 1- Open drawer 2- Place an apple inside the white bowl 3- Place an apple inside the white bowl 4- Place an orange inside the white bowl 5- Place an apple inside the white bowl 6- Place an apple inside the white bowl 7- Place an orange inside the white bowl 8- Place an orange inside the white bowl 9- Close the drawer 10- Place the orange on the white table 11- Place the orange on the white table Q: next 5 steps? \u003cPRED\u003eA: 1- Place the apple on the white table 2- Place the apple on the white table 3- Place the orange on the brown table 4- Place the apple on the brown table 5- Place the apple on the brown table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the chips packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the fruits from the top draw then place them in the bowl. Then distribute them to tables in mk. last 20 steps: 1- Open drawer 2- Place an apple inside the white bowl 3- Place an apple inside the white bowl 4- Place an orange inside the white bowl 5- Place an apple inside the white bowl 6- Place an apple inside the white bowl 7- Place an orange inside the white bowl 8- Place an orange inside the white bowl 9- Close the drawer 10- Place the orange on the white table 11- Place the orange on the white table Q: immediate next step? \u003cPRED\u003eA: Place the apple on the white table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the apple on the white table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the apple on the white table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the apple on the white table\n\u003c/PRED\u003e","video":"3337639891545510138.mp4"}
+{"uid":"17730026464608422615","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the pink packet in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the pink packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6133074560443494420.mp4"}
+{"uid":"3145512621782950299","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the fruits from the top draw then place them in the bowl. Then distribute them to tables in mk. last 20 steps: 1- Open drawer 2- Place an apple inside the white bowl 3- Place an apple inside the white bowl 4- Place an orange inside the white bowl 5- Place an apple inside the white bowl 6- Place an apple inside the white bowl 7- Place an orange inside the white bowl Q: immediate next step? \u003cPRED\u003eA: Place an orange inside the white bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace an orange inside the white bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place an orange inside the white bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place an orange inside the white bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove the fruits from the top draw then place them in the bowl. Then distribute them to tables in mk. Q: immediate next step? \u003cPRED\u003eA: Place an orange inside the white bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the fruits from the top draw then place them in the bowl. Then distribute them to tables in mk. last 20 steps: 1- Open drawer 2- Place an apple inside the white bowl 3- Place an apple inside the white bowl 4- Place an orange inside the white bowl 5- Place an apple inside the white bowl 6- Place an apple inside the white bowl 7- Place an orange inside the white bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Place an orange inside the white bowl 2- Close the drawer 3- Place the orange on the white table 4- Place the orange on the white table 5- Place the apple on the white table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace an orange inside the white bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4430163050267506383.mp4"}
+{"uid":"9463643985454550926","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the orange packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please stack candy into the white tray. last 20 steps: 1- place the pink packet in the tray 2- place the pink packet in the tray 3- place the pink packet in the tray 4- place the pink packet in the tray 5- place the pink packet in the tray 6- place the pink packet in the tray 7- place the orange packet in the tray 8- place the orange packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place the orange packet in the tray 2- place the orange packet in the tray 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the orange packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the orange packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please stack candy into the white tray. last 20 steps: 1- place the pink packet in the tray 2- place the pink packet in the tray 3- place the pink packet in the tray 4- place the pink packet in the tray 5- place the pink packet in the tray 6- place the pink packet in the tray 7- place the orange packet in the tray 8- place the orange packet in the tray Q: immediate next step? \u003cPRED\u003eA: place the orange packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please stack candy into the white tray Q: immediate next step? \u003cPRED\u003eA: place the orange packet in the tray\n\u003c/PRED\u003e","video":"1045806248678483113.mp4"}
+{"uid":"10109378782599341591","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the packet into the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9361951976829248884.mp4"}
+{"uid":"11131197986288242937","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place an orange inside the white bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place an orange inside the white bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace an orange inside the white bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove the fruits from the top draw then place them in the bowl. Then distribute them to tables in mk. Q: immediate next step? \u003cPRED\u003eA: Place an orange inside the white bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the fruits from the top draw then place them in the bowl. Then distribute them to tables in mk. last 20 steps: 1- Open drawer 2- Place an apple inside the white bowl 3- Place an apple inside the white bowl 4- Place an orange inside the white bowl 5- Place an apple inside the white bowl 6- Place an apple inside the white bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Place an orange inside the white bowl 2- Place an orange inside the white bowl 3- Close the drawer 4- Place the orange on the white table 5- Place the orange on the white table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace an orange inside the white bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the fruits from the top draw then place them in the bowl. Then distribute them to tables in mk. last 20 steps: 1- Open drawer 2- Place an apple inside the white bowl 3- Place an apple inside the white bowl 4- Place an orange inside the white bowl 5- Place an apple inside the white bowl 6- Place an apple inside the white bowl Q: immediate next step? \u003cPRED\u003eA: Place an orange inside the white bowl\n\u003c/PRED\u003e","video":"2354920967770789610.mp4"}
+{"uid":"7582480601619793297","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the candy in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16862012517583875399.mp4"}
+{"uid":"4754240543193520617","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Close the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the fruits from the top draw then place them in the bowl. Then distribute them to tables in mk. last 20 steps: 1- Open drawer 2- Place an apple inside the white bowl 3- Place an apple inside the white bowl 4- Place an orange inside the white bowl 5- Place an apple inside the white bowl 6- Place an apple inside the white bowl 7- Place an orange inside the white bowl 8- Place an orange inside the white bowl Q: immediate next step? \u003cPRED\u003eA: Close the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove the fruits from the top draw then place them in the bowl. Then distribute them to tables in mk. Q: immediate next step? \u003cPRED\u003eA: Close the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the fruits from the top draw then place them in the bowl. Then distribute them to tables in mk. last 20 steps: 1- Open drawer 2- Place an apple inside the white bowl 3- Place an apple inside the white bowl 4- Place an orange inside the white bowl 5- Place an apple inside the white bowl 6- Place an apple inside the white bowl 7- Place an orange inside the white bowl 8- Place an orange inside the white bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Close the drawer 2- Place the orange on the white table 3- Place the orange on the white table 4- Place the apple on the white table 5- Place the apple on the white table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nClose the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Close the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nClose the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"171243095746248314.mp4"}
+{"uid":"16501287751894807245","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the pink packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please stack candy into the white tray. last 20 steps: 1- place the pink packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place the pink packet in the tray 2- place the pink packet in the tray 3- place the pink packet in the tray 4- place the pink packet in the tray 5- place the pink packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please stack candy into the white tray. last 20 steps: 1- place the pink packet in the tray Q: immediate next step? \u003cPRED\u003eA: place the pink packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the pink packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the pink packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please stack candy into the white tray Q: immediate next step? \u003cPRED\u003eA: place the pink packet in the tray\n\u003c/PRED\u003e","video":"6238990775979659947.mp4"}
+{"uid":"10967174164066523839","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the blue packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7260398482892225632.mp4"}
+{"uid":"8248846410565494235","text":"\u003ctask:success:discrete:True\u003e\nPlace an apple inside the white bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place an apple inside the white bowl\n\u003c/PRED\u003e","video":"16304128604919162289.mp4"}
+{"uid":"3135177936283171937","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please stack candy into the white tray Q: immediate next step? \u003cPRED\u003eA: place the orange packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please stack candy into the white tray. last 20 steps: 1- place the pink packet in the tray 2- place the pink packet in the tray 3- place the pink packet in the tray 4- place the pink packet in the tray 5- place the pink packet in the tray 6- place the pink packet in the tray 7- place the orange packet in the tray 8- place the orange packet in the tray 9- place the orange packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place the orange packet in the tray 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the orange packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the orange packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the orange packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please stack candy into the white tray. last 20 steps: 1- place the pink packet in the tray 2- place the pink packet in the tray 3- place the pink packet in the tray 4- place the pink packet in the tray 5- place the pink packet in the tray 6- place the pink packet in the tray 7- place the orange packet in the tray 8- place the orange packet in the tray 9- place the orange packet in the tray Q: immediate next step? \u003cPRED\u003eA: place the orange packet in the tray\n\u003c/PRED\u003e","video":"4257982750457823185.mp4"}
+{"uid":"4665868806397855446","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the orange packet in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the orange packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2905099484107285977.mp4"}
+{"uid":"5055980664639529640","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the metal binder clip in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14531478852249853831.mp4"}
+{"uid":"1824107893869165827","text":"\u003ctask:success:discrete:True\u003e\nPlace an apple inside the white bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place an apple inside the white bowl\n\u003c/PRED\u003e","video":"4921499625491128484.mp4"}
+{"uid":"18322735432940595866","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place an apple inside the white bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace an apple inside the white bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"848363657507159815.mp4"}
+{"uid":"10495056306345811312","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put cups in drawer. last 20 steps: 1- drop the cup into the drawer 2- drop the cup into the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- put cup in drawer 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put cups in drawer Q: immediate next step? \u003cPRED\u003eA: put cup in drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput cup in drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put cup in drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput cup in drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put cups in drawer. last 20 steps: 1- drop the cup into the drawer 2- drop the cup into the drawer Q: immediate next step? \u003cPRED\u003eA: put cup in drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put cup in drawer\n\u003c/PRED\u003e","video":"445718364047429675.mp4"}
+{"uid":"5321038935956183023","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the pen on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take out all the pens and marker from pen holder. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Put the pen on the table 2- Put the pen on the table 3- Put the marker on the table 4- Put the pen on the table 5- Put the marker on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the pen on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the pen on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Take out all the pens and marker from pen holder Q: immediate next step? \u003cPRED\u003eA: Put the pen on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take out all the pens and marker from pen holder. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Put the pen on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the pen on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1863070581657253085.mp4"}
+{"uid":"7045533822202741379","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the marker on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Take out all the pens and marker from pen holder Q: immediate next step? \u003cPRED\u003eA: Put the marker on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the marker on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take out all the pens and marker from pen holder. last 20 steps: 1- Put the pen on the table 2- Put the pen on the table 3- Put the marker on the table 4- Put the pen on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the marker on the table 2- Put the pen on the table 3- Put the pen on the table 4- Put the pen on the table 5- Put the pen on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the marker on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take out all the pens and marker from pen holder. last 20 steps: 1- Put the pen on the table 2- Put the pen on the table 3- Put the marker on the table 4- Put the pen on the table Q: immediate next step? \u003cPRED\u003eA: Put the marker on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the marker on the table\n\u003c/PRED\u003e","video":"3677877150673927603.mp4"}
+{"uid":"5190757997247961548","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the pen on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take out all the pens and marker from pen holder. last 20 steps: 1- Put the pen on the table 2- Put the pen on the table 3- Put the marker on the table 4- Put the pen on the table 5- Put the marker on the table 6- Put the pen on the table 7- Put the pen on the table 8- Put the pen on the table Q: immediate next step? \u003cPRED\u003eA: Put the pen on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the pen on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take out all the pens and marker from pen holder. last 20 steps: 1- Put the pen on the table 2- Put the pen on the table 3- Put the marker on the table 4- Put the pen on the table 5- Put the marker on the table 6- Put the pen on the table 7- Put the pen on the table 8- Put the pen on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the pen on the table 2- Put the pen on the table 3- Put the marker on the table 4- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Take out all the pens and marker from pen holder Q: immediate next step? \u003cPRED\u003eA: Put the pen on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the pen on the table\n\u003c/PRED\u003e","video":"2124888478932979862.mp4"}
+{"uid":"7863591260356631816","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace a yellow packet on the left column of the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16982098891485839641.mp4"}
+{"uid":"5362789064361525619","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the cup into the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop the cup into the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18300283966857279058.mp4"}
+{"uid":"9663397598480570448","text":"\u003ctask:success:discrete:False\u003e\nPut the marker on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the marker on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take out all the pens and marker from pen holder. last 20 steps: 1- Put the pen on the table 2- Put the pen on the table Q: immediate next step? \u003cPRED\u003eA: Put the marker on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the marker on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Take out all the pens and marker from pen holder Q: immediate next step? \u003cPRED\u003eA: Put the marker on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take out all the pens and marker from pen holder. last 20 steps: 1- Put the pen on the table 2- Put the pen on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the marker on the table 2- Put the pen on the table 3- Put the marker on the table 4- Put the pen on the table 5- Put the pen on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the marker on the table\n\u003c/PRED\u003e","video":"9969599225275314345.mp4"}
+{"uid":"2483912633416159475","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nArrange the red candy in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11261868861691652663.mp4"}
+{"uid":"14278920057267453368","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove forward Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6690505149066180649.mp4"}
+{"uid":"17104258267124982315","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick black cloth from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"753938474661738020.mp4"}
+{"uid":"7197322803049417168","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput book in the shelf Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15405050956371024769.mp4"}
+{"uid":"13476396459050727008","text":"\u003ctask:success:discrete:True\u003e\nPlace the cup into the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the cup into the drawer\n\u003c/PRED\u003e","video":"15850001878315451726.mp4"}
+{"uid":"2401996521953924707","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Take out all the pens and marker from pen holder Q: immediate next step? \u003cPRED\u003eA: Put the pen on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the pen on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the pen on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the pen on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the pen on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take out all the pens and marker from pen holder. last 20 steps: 1- Put the pen on the table 2- Put the pen on the table 3- Put the marker on the table Q: immediate next step? \u003cPRED\u003eA: Put the pen on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take out all the pens and marker from pen holder. last 20 steps: 1- Put the pen on the table 2- Put the pen on the table 3- Put the marker on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the pen on the table 2- Put the marker on the table 3- Put the pen on the table 4- Put the pen on the table 5- Put the pen on the table\n\u003c/PRED\u003e","video":"4152923280905423751.mp4"}
+{"uid":"7029895741184044037","text":"\u003ctask:success:discrete:True\u003e\ndrop the cup into the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the cup into the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put cups in drawer. last 20 steps: 1- drop the cup into the drawer 2- drop the cup into the drawer 3- drop the cup into the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put cups in drawer. last 20 steps: 1- drop the cup into the drawer 2- drop the cup into the drawer 3- drop the cup into the drawer Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put cups in drawer Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"17453990861890241370.mp4"}
+{"uid":"13135073215339491853","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nkeep pistachio in glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5680196210247940103.mp4"}
+{"uid":"8642402033425806972","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put cups in drawer. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put cup in drawer 2- drop the cup into the drawer 3- drop the cup into the drawer 4- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put cups in drawer Q: immediate next step? \u003cPRED\u003eA: put cup in drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput cup in drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put cup in drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put cup in drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put cups in drawer. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put cup in drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput cup in drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17362306639890753205.mp4"}
+{"uid":"192381972733916939","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the battery in the charger Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18194664761739586636.mp4"}
+{"uid":"14627756666592353952","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the pen on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take out all the pens and marker from pen holder. last 20 steps: 1- Put the pen on the table 2- Put the pen on the table 3- Put the marker on the table 4- Put the pen on the table 5- Put the marker on the table 6- Put the pen on the table 7- Put the pen on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the pen on the table 2- Put the pen on the table 3- Put the pen on the table 4- Put the marker on the table 5- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the pen on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take out all the pens and marker from pen holder. last 20 steps: 1- Put the pen on the table 2- Put the pen on the table 3- Put the marker on the table 4- Put the pen on the table 5- Put the marker on the table 6- Put the pen on the table 7- Put the pen on the table Q: immediate next step? \u003cPRED\u003eA: Put the pen on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Take out all the pens and marker from pen holder Q: immediate next step? \u003cPRED\u003eA: Put the pen on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the pen on the table\n\u003c/PRED\u003e","video":"16394269675557670176.mp4"}
+{"uid":"3102841048452603208","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Adjust the gimme packets in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nAdjust the gimme packets in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1159707755749206571.mp4"}
+{"uid":"9856422519453647732","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the lid on the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5619837366751625960.mp4"}
+{"uid":"3866989822828906846","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you straighten out the seawek snacks in the MK please. last 20 steps: 1- Pull the tray outside 2- Adjust the nora packets in the tray 3- Adjust the gimme packets in the tray Q: immediate next step? \u003cPRED\u003eA: Push the tray inside\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you straighten out the seawek snacks in the MK please Q: immediate next step? \u003cPRED\u003eA: Push the tray inside\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Push the tray inside\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPush the tray inside Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you straighten out the seawek snacks in the MK please. last 20 steps: 1- Pull the tray outside 2- Adjust the nora packets in the tray 3- Adjust the gimme packets in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Push the tray inside 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPush the tray inside Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Push the tray inside\n\u003c/PRED\u003e","video":"16906775754496398578.mp4"}
+{"uid":"13342057048562268953","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put cups in drawer Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the cup into the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the cup into the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put cups in drawer. last 20 steps: 1- drop the cup into the drawer 2- drop the cup into the drawer 3- Place the cup into the drawer Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put cups in drawer. last 20 steps: 1- drop the cup into the drawer 2- drop the cup into the drawer 3- Place the cup into the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"9093735193636278028.mp4"}
+{"uid":"1418404448347698524","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the pen on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1000197918344638078.mp4"}
+{"uid":"4380150340834129116","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the cup into the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put cups in drawer Q: immediate next step? \u003cPRED\u003eA: drop the cup into the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put cups in drawer. last 20 steps: 1- drop the cup into the drawer 2- drop the cup into the drawer Q: immediate next step? \u003cPRED\u003eA: Place the cup into the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the cup into the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the cup into the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the cup into the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the cup into the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the cup into the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put cups in drawer. last 20 steps: 1- drop the cup into the drawer 2- drop the cup into the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- drop the cup into the drawer 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the cup into the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the cup into the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put cups in drawer. last 20 steps: 1- drop the cup into the drawer 2- drop the cup into the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- Place the cup into the drawer 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put cups in drawer. last 20 steps: 1- drop the cup into the drawer 2- drop the cup into the drawer Q: immediate next step? \u003cPRED\u003eA: drop the cup into the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put cups in drawer Q: immediate next step? \u003cPRED\u003eA: Place the cup into the drawer\n\u003c/PRED\u003e","video":"4114439622433031233.mp4"}
+{"uid":"15007798489612507301","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick the snacks bag Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18113764871897922351.mp4"}
+{"uid":"18089282872821365402","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take out all the pens and marker from pen holder. last 20 steps: 1- Put the pen on the table 2- Put the pen on the table 3- Put the marker on the table 4- Put the pen on the table 5- Put the marker on the table 6- Put the pen on the table 7- Put the pen on the table 8- Put the pen on the table 9- Put the pen on the table 10- Put the pen on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the marker on the table 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take out all the pens and marker from pen holder. last 20 steps: 1- Put the pen on the table 2- Put the pen on the table 3- Put the marker on the table 4- Put the pen on the table 5- Put the marker on the table 6- Put the pen on the table 7- Put the pen on the table 8- Put the pen on the table 9- Put the pen on the table 10- Put the pen on the table Q: immediate next step? \u003cPRED\u003eA: Put the marker on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the marker on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the marker on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Take out all the pens and marker from pen holder Q: immediate next step? \u003cPRED\u003eA: Put the marker on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the marker on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the marker on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14822466420520272727.mp4"}
+{"uid":"16065892830121548639","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove towards the door Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the packet in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8813256712592385761.mp4"}
+{"uid":"7913755962801297062","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the cup into the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop the cup into the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12714145017018099301.mp4"}
+{"uid":"9543631504121129161","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put cup in drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput cup in drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put cups in drawer Q: immediate next step? \u003cPRED\u003eA: put cup in drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put cups in drawer. last 20 steps: 1- drop the cup into the drawer Q: immediate next step? \u003cPRED\u003eA: put cup in drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put cups in drawer. last 20 steps: 1- drop the cup into the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- put cup in drawer 2- drop the cup into the drawer 3- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put cup in drawer\n\u003c/PRED\u003e","video":"17821491953339543156.mp4"}
+{"uid":"9583877181845533172","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the pen on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the pen on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take out all the pens and marker from pen holder. last 20 steps: 1- Put the pen on the table 2- Put the pen on the table 3- Put the marker on the table 4- Put the pen on the table 5- Put the marker on the table 6- Put the pen on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the pen on the table 2- Put the pen on the table 3- Put the pen on the table 4- Put the pen on the table 5- Put the marker on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the pen on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take out all the pens and marker from pen holder. last 20 steps: 1- Put the pen on the table 2- Put the pen on the table 3- Put the marker on the table 4- Put the pen on the table 5- Put the marker on the table 6- Put the pen on the table Q: immediate next step? \u003cPRED\u003eA: Put the pen on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Take out all the pens and marker from pen holder Q: immediate next step? \u003cPRED\u003eA: Put the pen on the table\n\u003c/PRED\u003e","video":"17347158357166928069.mp4"}
+{"uid":"11091150507522962338","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pink sugar candy in the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16871967174996474350.mp4"}
+{"uid":"16072689822897164787","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the pen on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take out all the pens and marker from pen holder. last 20 steps: 1- Put the pen on the table 2- Put the pen on the table 3- Put the marker on the table 4- Put the pen on the table 5- Put the marker on the table 6- Put the pen on the table 7- Put the pen on the table 8- Put the pen on the table 9- Put the pen on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the pen on the table 2- Put the marker on the table 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the pen on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Take out all the pens and marker from pen holder Q: immediate next step? \u003cPRED\u003eA: Put the pen on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the pen on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take out all the pens and marker from pen holder. last 20 steps: 1- Put the pen on the table 2- Put the pen on the table 3- Put the marker on the table 4- Put the pen on the table 5- Put the marker on the table 6- Put the pen on the table 7- Put the pen on the table 8- Put the pen on the table 9- Put the pen on the table Q: immediate next step? \u003cPRED\u003eA: Put the pen on the table\n\u003c/PRED\u003e","video":"822045239716472418.mp4"}
+{"uid":"7206332846105394441","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put cups in drawer. last 20 steps: 1- drop the cup into the drawer Q: immediate next step? \u003cPRED\u003eA: drop the cup into the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the cup into the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the cup into the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the cup into the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put cups in drawer Q: immediate next step? \u003cPRED\u003eA: drop the cup into the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put cups in drawer. last 20 steps: 1- drop the cup into the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- drop the cup into the drawer 2- drop the cup into the drawer 3- done\n\u003c/PRED\u003e","video":"4690032747660704974.mp4"}
+{"uid":"11086552331481502565","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Adjust the nora packets in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nAdjust the nora packets in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10763468370256472837.mp4"}
+{"uid":"14504161316456996441","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut orange in a bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12541137491750500798.mp4"}
+{"uid":"10165905902801297121","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the pen on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Take out all the pens and marker from pen holder Q: immediate next step? \u003cPRED\u003eA: Put the pen on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the pen on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the pen on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the pen on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take out all the pens and marker from pen holder. last 20 steps: 1- Put the pen on the table 2- Put the pen on the table 3- Put the marker on the table 4- Put the pen on the table 5- Put the marker on the table Q: immediate next step? \u003cPRED\u003eA: Put the pen on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take out all the pens and marker from pen holder. last 20 steps: 1- Put the pen on the table 2- Put the pen on the table 3- Put the marker on the table 4- Put the pen on the table 5- Put the marker on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the pen on the table 2- Put the pen on the table 3- Put the pen on the table 4- Put the pen on the table 5- Put the pen on the table\n\u003c/PRED\u003e","video":"4870064610755341260.mp4"}
+{"uid":"3132647777615543533","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the spoons packect on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"170713663065282835.mp4"}
+{"uid":"807944107128773326","text":"\u003ctask:success:discrete:False\u003e\nPlace the cup into the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the cup into the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put cups in drawer. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Place the cup into the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put cups in drawer Q: immediate next step? \u003cPRED\u003eA: Place the cup into the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the cup into the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the cup into the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put cups in drawer. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Place the cup into the drawer 2- drop the cup into the drawer 3- drop the cup into the drawer 4- done\n\u003c/PRED\u003e","video":"3647137612068929527.mp4"}
+{"uid":"953520573731842590","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you straighten out the seawek snacks in the MK please. last 20 steps: 1- Pull the tray outside 2- Adjust the nora packets in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Adjust the gimme packets in the tray 2- Push the tray inside 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you straighten out the seawek snacks in the MK please Q: immediate next step? \u003cPRED\u003eA: Adjust the gimme packets in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you straighten out the seawek snacks in the MK please. last 20 steps: 1- Pull the tray outside 2- Adjust the nora packets in the tray Q: immediate next step? \u003cPRED\u003eA: Adjust the gimme packets in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nAdjust the gimme packets in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Adjust the gimme packets in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nAdjust the gimme packets in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Adjust the gimme packets in the tray\n\u003c/PRED\u003e","video":"16689297534611326851.mp4"}
+{"uid":"18304907196245881791","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Adjust the nora packets in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you straighten out the seawek snacks in the MK please Q: immediate next step? \u003cPRED\u003eA: Adjust the nora packets in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nAdjust the nora packets in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you straighten out the seawek snacks in the MK please. last 20 steps: 1- Pull the tray outside Q: immediate next step? \u003cPRED\u003eA: Adjust the nora packets in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Adjust the nora packets in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nAdjust the nora packets in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you straighten out the seawek snacks in the MK please. last 20 steps: 1- Pull the tray outside Q: next 5 steps? \u003cPRED\u003eA: 1- Adjust the nora packets in the tray 2- Adjust the gimme packets in the tray 3- Push the tray inside 4- done\n\u003c/PRED\u003e","video":"5122263107213704311.mp4"}
+{"uid":"14770621660096988976","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick the sticky notes from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5008109450896565871.mp4"}
+{"uid":"14858799423598770749","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the pen on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11054716479083243504.mp4"}
+{"uid":"1006949527715560990","text":"\u003ctask:success:discrete:True\u003e\nPlace the cup into the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the cup into the drawer\n\u003c/PRED\u003e","video":"8956035128826837629.mp4"}
+{"uid":"15106606250552118605","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the notepad on another notepad Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7761061021638302704.mp4"}
+{"uid":"720183194065932138","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9252448185140688736.mp4"}
+{"uid":"14670215145631143701","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the pen on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Take out all the pens and marker from pen holder Q: immediate next step? \u003cPRED\u003eA: Put the pen on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the pen on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take out all the pens and marker from pen holder. last 20 steps: 1- Put the pen on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the pen on the table 2- Put the marker on the table 3- Put the pen on the table 4- Put the marker on the table 5- Put the pen on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the pen on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take out all the pens and marker from pen holder. last 20 steps: 1- Put the pen on the table Q: immediate next step? \u003cPRED\u003eA: Put the pen on the table\n\u003c/PRED\u003e","video":"16786231414388386696.mp4"}
+{"uid":"12343590564417412737","text":"\u003ctask:success:discrete:False\u003e\ndrop the cup into the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the cup into the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put cups in drawer. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: drop the cup into the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the cup into the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put cups in drawer. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- drop the cup into the drawer 2- drop the cup into the drawer 3- drop the cup into the drawer 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the cup into the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put cups in drawer Q: immediate next step? \u003cPRED\u003eA: drop the cup into the drawer\n\u003c/PRED\u003e","video":"8028254195813787127.mp4"}
+{"uid":"4172106456172375112","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the packet in a drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17020324667935869569.mp4"}
+{"uid":"5951535147409209777","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPull the tray outside Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you straighten out the seawek snacks in the MK please. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Pull the tray outside\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pull the tray outside\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPull the tray outside Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pull the tray outside\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you straighten out the seawek snacks in the MK please. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Pull the tray outside 2- Adjust the nora packets in the tray 3- Adjust the gimme packets in the tray 4- Push the tray inside 5- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you straighten out the seawek snacks in the MK please Q: immediate next step? \u003cPRED\u003eA: Pull the tray outside\n\u003c/PRED\u003e","video":"2365822104400202937.mp4"}
+{"uid":"9541946816898876834","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack cups on top of existing stack Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1088701119237603601.mp4"}
+{"uid":"6635358418192468870","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput plastic spoon in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13964873395896011851.mp4"}
+{"uid":"5050572275643561766","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put cups in drawer Q: immediate next step? \u003cPRED\u003eA: Place the cup into the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put cups in drawer. last 20 steps: 1- drop the cup into the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- Place the cup into the drawer 2- drop the cup into the drawer 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the cup into the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put cups in drawer. last 20 steps: 1- drop the cup into the drawer Q: immediate next step? \u003cPRED\u003eA: Place the cup into the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the cup into the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the cup into the drawer\n\u003c/PRED\u003e","video":"12432746689826268245.mp4"}
+{"uid":"5430609789786364774","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up the plastic glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7565432530011827786.mp4"}
+{"uid":"706849444775076580","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop the tape dispenser box into the white cotton box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17205113688900584927.mp4"}
+{"uid":"12371561087939928772","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: clean the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nclean the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you go into phone room 2A2 and whipe it down for me please. Q: immediate next step? \u003cPRED\u003eA: clean the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you go into phone room 2A2 and whipe it down for me please. last 20 steps: 1- open the door 2- switch on the light 3- open the tissue cover 4- Put the tissue on the table Q: immediate next step? \u003cPRED\u003eA: clean the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you go into phone room 2A2 and whipe it down for me please. last 20 steps: 1- open the door 2- switch on the light 3- open the tissue cover 4- Put the tissue on the table Q: next 5 steps? \u003cPRED\u003eA: 1- clean the table 2- Put the tissue in the dust bin 3- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: clean the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nclean the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12371161389138907138.mp4"}
+{"uid":"16645376031301459666","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you go into phone room 2A2 and whipe it down for me please. Q: immediate next step? \u003cPRED\u003eA: Put the tissue on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the tissue on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you go into phone room 2A2 and whipe it down for me please. last 20 steps: 1- open the door 2- switch on the light 3- open the tissue cover Q: immediate next step? \u003cPRED\u003eA: Put the tissue on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the tissue on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the tissue on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the tissue on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you go into phone room 2A2 and whipe it down for me please. last 20 steps: 1- open the door 2- switch on the light 3- open the tissue cover Q: next 5 steps? \u003cPRED\u003eA: 1- Put the tissue on the table 2- clean the table 3- Put the tissue in the dust bin 4- done\n\u003c/PRED\u003e","video":"15528581679605701552.mp4"}
+{"uid":"12644599812956957309","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop the blue object Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17884604955946540567.mp4"}
+{"uid":"138584337824515460","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the apple on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13465971550097868712.mp4"}
+{"uid":"728419931118407405","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput candy on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"860996852773760525.mp4"}
+{"uid":"14436080972244049882","text":"\u003ctask:success:discrete:True\u003e\nclean the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: clean the table\n\u003c/PRED\u003e","video":"17763574507646581666.mp4"}
+{"uid":"17838106522914407480","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the yellow packet in the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9615437114712616180.mp4"}
+{"uid":"14304285434431876502","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you go into phone room 2A2 and whipe it down for me please. last 20 steps: 1- open the door 2- switch on the light Q: next 5 steps? \u003cPRED\u003eA: 1- open the tissue cover 2- Put the tissue on the table 3- clean the table 4- Put the tissue in the dust bin 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nopen the tissue cover Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open the tissue cover\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open the tissue cover\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you go into phone room 2A2 and whipe it down for me please. Q: immediate next step? \u003cPRED\u003eA: open the tissue cover\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you go into phone room 2A2 and whipe it down for me please. last 20 steps: 1- open the door 2- switch on the light Q: immediate next step? \u003cPRED\u003eA: open the tissue cover\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nopen the tissue cover Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13810439221627634324.mp4"}
+{"uid":"9378123418772696838","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the tissue in the dust bin\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the tissue in the dust bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you go into phone room 2A2 and whipe it down for me please. Q: immediate next step? \u003cPRED\u003eA: Put the tissue in the dust bin\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you go into phone room 2A2 and whipe it down for me please. last 20 steps: 1- open the door 2- switch on the light 3- open the tissue cover 4- Put the tissue on the table 5- clean the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the tissue in the dust bin 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the tissue in the dust bin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the tissue in the dust bin\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you go into phone room 2A2 and whipe it down for me please. last 20 steps: 1- open the door 2- switch on the light 3- open the tissue cover 4- Put the tissue on the table 5- clean the table Q: immediate next step? \u003cPRED\u003eA: Put the tissue in the dust bin\n\u003c/PRED\u003e","video":"4236849085034208918.mp4"}
+{"uid":"9626411210383690553","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: switch on the light\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: switch on the light\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you go into phone room 2A2 and whipe it down for me please. last 20 steps: 1- open the door Q: next 5 steps? \u003cPRED\u003eA: 1- switch on the light 2- open the tissue cover 3- Put the tissue on the table 4- clean the table 5- Put the tissue in the dust bin\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you go into phone room 2A2 and whipe it down for me please. last 20 steps: 1- open the door Q: immediate next step? \u003cPRED\u003eA: switch on the light\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nswitch on the light Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nswitch on the light Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you go into phone room 2A2 and whipe it down for me please. Q: immediate next step? \u003cPRED\u003eA: switch on the light\n\u003c/PRED\u003e","video":"14274210035004643187.mp4"}
+{"uid":"921562901502693128","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nGrasp the water bottle Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17607224935407917718.mp4"}
+{"uid":"247982582192080794","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you go into phone room 2A2 and whipe it down for me please. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you go into phone room 2A2 and whipe it down for me please. last 20 steps: 1- open the door 2- switch on the light 3- open the tissue cover 4- Put the tissue on the table 5- clean the table 6- Put the tissue in the dust bin Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the tissue in the dust bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the tissue in the dust bin\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you go into phone room 2A2 and whipe it down for me please. last 20 steps: 1- open the door 2- switch on the light 3- open the tissue cover 4- Put the tissue on the table 5- clean the table 6- Put the tissue in the dust bin Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"16963321892642188370.mp4"}
+{"uid":"2722084482691527806","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the green marker in glass tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17057356927772133634.mp4"}
+{"uid":"11625521566823388980","text":"\u003ctask:success:discrete:True\u003e\nopen the door Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: open the door\n\u003c/PRED\u003e","video":"2837488207912475124.mp4"}
+{"uid":"18165024922072125554","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the red packet in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11114170862138945673.mp4"}
+{"uid":"8363947514226200999","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace chocolate bowl in the left of glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6312562814733888731.mp4"}
+{"uid":"3456142027338552027","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput a plastic spoon in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2790949538942002230.mp4"}
+{"uid":"2900005778508091447","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: The meeting is finished, put all of the pens back into the pen holder on the cart and push the chairs in Q: immediate next step? \u003cPRED\u003eA: place black pen in big pen stand\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace black pen in big pen stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place black pen in big pen stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: The meeting is finished, put all of the pens back into the pen holder on the cart and push the chairs in. last 20 steps: 1- place black pen in the pen stand 2- place blue pen in the pen stand 3- arrange blue pen 4- place pen stand rightward 5- arrange the chair 6- arrange the chair 7- arrange the chair 8- arrange the chair 9- arrange the chair 10- place the pen stand in trolley rack 11- place blue pen in big pen stand 12- place pen stand forward 13- place black pen in big pen stand 14- place black pen in big pen stand 15- place blue pen in big pen stand 16- place blue pen in big pen stand 17- place blue pen in big pen stand 18- place black pen in big pen stand 19- place blue pen in big pen stand 20- place black pen in big pen stand Q: next 5 steps? \u003cPRED\u003eA: 1- place black pen in big pen stand 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place black pen in big pen stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace black pen in big pen stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: The meeting is finished, put all of the pens back into the pen holder on the cart and push the chairs in. last 20 steps: 1- place black pen in the pen stand 2- place blue pen in the pen stand 3- arrange blue pen 4- place pen stand rightward 5- arrange the chair 6- arrange the chair 7- arrange the chair 8- arrange the chair 9- arrange the chair 10- place the pen stand in trolley rack 11- place blue pen in big pen stand 12- place pen stand forward 13- place black pen in big pen stand 14- place black pen in big pen stand 15- place blue pen in big pen stand 16- place blue pen in big pen stand 17- place blue pen in big pen stand 18- place black pen in big pen stand 19- place blue pen in big pen stand 20- place black pen in big pen stand Q: immediate next step? \u003cPRED\u003eA: place black pen in big pen stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place black pen in big pen stand\n\u003c/PRED\u003e","video":"16778852008240893803.mp4"}
+{"uid":"14186591760669706856","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\norganize sticky note in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15135953085249313779.mp4"}
+{"uid":"4297580364552737393","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: The meeting is finished, put all of the pens back into the pen holder on the cart and push the chairs in Q: immediate next step? \u003cPRED\u003eA: place blue pen in big pen stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place blue pen in big pen stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: The meeting is finished, put all of the pens back into the pen holder on the cart and push the chairs in. last 20 steps: 1- move pen stand upward 2- place black pen in the pen stand 3- place blue pen in the pen stand 4- place pen stand below black object 5- place black pen in the pen stand 6- place blue pen in the pen stand 7- arrange blue pen 8- place pen stand rightward 9- arrange the chair 10- arrange the chair 11- arrange the chair 12- arrange the chair 13- arrange the chair 14- place the pen stand in trolley rack 15- place blue pen in big pen stand 16- place pen stand forward 17- place black pen in big pen stand 18- place black pen in big pen stand 19- place blue pen in big pen stand 20- place blue pen in big pen stand Q: immediate next step? \u003cPRED\u003eA: place blue pen in big pen stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place blue pen in big pen stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace blue pen in big pen stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: The meeting is finished, put all of the pens back into the pen holder on the cart and push the chairs in. last 20 steps: 1- move pen stand upward 2- place black pen in the pen stand 3- place blue pen in the pen stand 4- place pen stand below black object 5- place black pen in the pen stand 6- place blue pen in the pen stand 7- arrange blue pen 8- place pen stand rightward 9- arrange the chair 10- arrange the chair 11- arrange the chair 12- arrange the chair 13- arrange the chair 14- place the pen stand in trolley rack 15- place blue pen in big pen stand 16- place pen stand forward 17- place black pen in big pen stand 18- place black pen in big pen stand 19- place blue pen in big pen stand 20- place blue pen in big pen stand Q: next 5 steps? \u003cPRED\u003eA: 1- place blue pen in big pen stand 2- place black pen in big pen stand 3- place blue pen in big pen stand 4- place black pen in big pen stand 5- place black pen in big pen stand\n\u003c/PRED\u003e","video":"4505726785109744433.mp4"}
+{"uid":"16036505538381344947","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: The meeting is finished, put all of the pens back into the pen holder on the cart and push the chairs in. last 20 steps: 1- move right pen stand in the right 2- place the pen stand on the table 3- place blue pen in the pen stand 4- place black pen in the pen stand 5- place the pen stand upward 6- place black pen in pen stand 7- place blue pen in the pen stand 8- place the pen stand leftward 9- place blue pen in the pen stand 10- place black pen in the pen stand 11- move pen stand upward Q: next 5 steps? \u003cPRED\u003eA: 1- place black pen in the pen stand 2- place blue pen in the pen stand 3- place pen stand below black object 4- place black pen in the pen stand 5- place blue pen in the pen stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: The meeting is finished, put all of the pens back into the pen holder on the cart and push the chairs in Q: immediate next step? \u003cPRED\u003eA: place black pen in the pen stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: The meeting is finished, put all of the pens back into the pen holder on the cart and push the chairs in. last 20 steps: 1- move right pen stand in the right 2- place the pen stand on the table 3- place blue pen in the pen stand 4- place black pen in the pen stand 5- place the pen stand upward 6- place black pen in pen stand 7- place blue pen in the pen stand 8- place the pen stand leftward 9- place blue pen in the pen stand 10- place black pen in the pen stand 11- move pen stand upward Q: immediate next step? \u003cPRED\u003eA: place black pen in the pen stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place black pen in the pen stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace black pen in the pen stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place black pen in the pen stand\n\u003c/PRED\u003e","video":"5760520764695569884.mp4"}
+{"uid":"7421715033915050504","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: The meeting is finished, put all of the pens back into the pen holder on the cart and push the chairs in Q: immediate next step? \u003cPRED\u003eA: place black pen in big pen stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace black pen in big pen stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place black pen in big pen stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place black pen in big pen stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: The meeting is finished, put all of the pens back into the pen holder on the cart and push the chairs in. last 20 steps: 1- place pen stand below black object 2- place black pen in the pen stand 3- place blue pen in the pen stand 4- arrange blue pen 5- place pen stand rightward 6- arrange the chair 7- arrange the chair 8- arrange the chair 9- arrange the chair 10- arrange the chair 11- place the pen stand in trolley rack 12- place blue pen in big pen stand 13- place pen stand forward 14- place black pen in big pen stand 15- place black pen in big pen stand 16- place blue pen in big pen stand 17- place blue pen in big pen stand 18- place blue pen in big pen stand 19- place black pen in big pen stand 20- place blue pen in big pen stand Q: next 5 steps? \u003cPRED\u003eA: 1- place black pen in big pen stand 2- place black pen in big pen stand 3- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace black pen in big pen stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: The meeting is finished, put all of the pens back into the pen holder on the cart and push the chairs in. last 20 steps: 1- place pen stand below black object 2- place black pen in the pen stand 3- place blue pen in the pen stand 4- arrange blue pen 5- place pen stand rightward 6- arrange the chair 7- arrange the chair 8- arrange the chair 9- arrange the chair 10- arrange the chair 11- place the pen stand in trolley rack 12- place blue pen in big pen stand 13- place pen stand forward 14- place black pen in big pen stand 15- place black pen in big pen stand 16- place blue pen in big pen stand 17- place blue pen in big pen stand 18- place blue pen in big pen stand 19- place black pen in big pen stand 20- place blue pen in big pen stand Q: immediate next step? \u003cPRED\u003eA: place black pen in big pen stand\n\u003c/PRED\u003e","video":"4950488782622237123.mp4"}
+{"uid":"3323896850438366581","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the pen on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10891025322031764577.mp4"}
+{"uid":"17323005303060601637","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: The meeting is finished, put all of the pens back into the pen holder on the cart and push the chairs in Q: immediate next step? \u003cPRED\u003eA: place pen stand rightward\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place pen stand rightward\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place pen stand rightward\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace pen stand rightward Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: The meeting is finished, put all of the pens back into the pen holder on the cart and push the chairs in. last 20 steps: 1- move right pen stand in the right 2- place the pen stand on the table 3- place blue pen in the pen stand 4- place black pen in the pen stand 5- place the pen stand upward 6- place black pen in pen stand 7- place blue pen in the pen stand 8- place the pen stand leftward 9- place blue pen in the pen stand 10- place black pen in the pen stand 11- move pen stand upward 12- place black pen in the pen stand 13- place blue pen in the pen stand 14- place pen stand below black object 15- place black pen in the pen stand 16- place blue pen in the pen stand 17- arrange blue pen Q: immediate next step? \u003cPRED\u003eA: place pen stand rightward\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: The meeting is finished, put all of the pens back into the pen holder on the cart and push the chairs in. last 20 steps: 1- move right pen stand in the right 2- place the pen stand on the table 3- place blue pen in the pen stand 4- place black pen in the pen stand 5- place the pen stand upward 6- place black pen in pen stand 7- place blue pen in the pen stand 8- place the pen stand leftward 9- place blue pen in the pen stand 10- place black pen in the pen stand 11- move pen stand upward 12- place black pen in the pen stand 13- place blue pen in the pen stand 14- place pen stand below black object 15- place black pen in the pen stand 16- place blue pen in the pen stand 17- arrange blue pen Q: next 5 steps? \u003cPRED\u003eA: 1- place pen stand rightward 2- arrange the chair 3- arrange the chair 4- arrange the chair 5- arrange the chair\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace pen stand rightward Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7878395849047424376.mp4"}
+{"uid":"17157251275912073400","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: The meeting is finished, put all of the pens back into the pen holder on the cart and push the chairs in. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: move right pen stand in the right\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move right pen stand in the right\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove right pen stand in the right Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: The meeting is finished, put all of the pens back into the pen holder on the cart and push the chairs in. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- move right pen stand in the right 2- place the pen stand on the table 3- place blue pen in the pen stand 4- place black pen in the pen stand 5- place the pen stand upward\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: The meeting is finished, put all of the pens back into the pen holder on the cart and push the chairs in Q: immediate next step? \u003cPRED\u003eA: move right pen stand in the right\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move right pen stand in the right\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove right pen stand in the right Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10145193409254125556.mp4"}
+{"uid":"12401356488135511707","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the blue pen into the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1530341860205997142.mp4"}
+{"uid":"6401696854048162399","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: The meeting is finished, put all of the pens back into the pen holder on the cart and push the chairs in. last 20 steps: 1- move right pen stand in the right 2- place the pen stand on the table 3- place blue pen in the pen stand 4- place black pen in the pen stand 5- place the pen stand upward 6- place black pen in pen stand 7- place blue pen in the pen stand 8- place the pen stand leftward 9- place blue pen in the pen stand 10- place black pen in the pen stand 11- move pen stand upward 12- place black pen in the pen stand 13- place blue pen in the pen stand 14- place pen stand below black object 15- place black pen in the pen stand 16- place blue pen in the pen stand 17- arrange blue pen 18- place pen stand rightward Q: next 5 steps? \u003cPRED\u003eA: 1- arrange the chair 2- arrange the chair 3- arrange the chair 4- arrange the chair 5- arrange the chair\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: arrange the chair\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\narrange the chair Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\narrange the chair Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: The meeting is finished, put all of the pens back into the pen holder on the cart and push the chairs in. last 20 steps: 1- move right pen stand in the right 2- place the pen stand on the table 3- place blue pen in the pen stand 4- place black pen in the pen stand 5- place the pen stand upward 6- place black pen in pen stand 7- place blue pen in the pen stand 8- place the pen stand leftward 9- place blue pen in the pen stand 10- place black pen in the pen stand 11- move pen stand upward 12- place black pen in the pen stand 13- place blue pen in the pen stand 14- place pen stand below black object 15- place black pen in the pen stand 16- place blue pen in the pen stand 17- arrange blue pen 18- place pen stand rightward Q: immediate next step? \u003cPRED\u003eA: arrange the chair\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: The meeting is finished, put all of the pens back into the pen holder on the cart and push the chairs in Q: immediate next step? \u003cPRED\u003eA: arrange the chair\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: arrange the chair\n\u003c/PRED\u003e","video":"1760696002681592601.mp4"}
+{"uid":"7034501231052320084","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: The meeting is finished, put all of the pens back into the pen holder on the cart and push the chairs in Q: immediate next step? \u003cPRED\u003eA: place pen stand forward\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: The meeting is finished, put all of the pens back into the pen holder on the cart and push the chairs in. last 20 steps: 1- place black pen in pen stand 2- place blue pen in the pen stand 3- place the pen stand leftward 4- place blue pen in the pen stand 5- place black pen in the pen stand 6- move pen stand upward 7- place black pen in the pen stand 8- place blue pen in the pen stand 9- place pen stand below black object 10- place black pen in the pen stand 11- place blue pen in the pen stand 12- arrange blue pen 13- place pen stand rightward 14- arrange the chair 15- arrange the chair 16- arrange the chair 17- arrange the chair 18- arrange the chair 19- place the pen stand in trolley rack 20- place blue pen in big pen stand Q: immediate next step? \u003cPRED\u003eA: place pen stand forward\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace pen stand forward Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place pen stand forward\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place pen stand forward\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace pen stand forward Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: The meeting is finished, put all of the pens back into the pen holder on the cart and push the chairs in. last 20 steps: 1- place black pen in pen stand 2- place blue pen in the pen stand 3- place the pen stand leftward 4- place blue pen in the pen stand 5- place black pen in the pen stand 6- move pen stand upward 7- place black pen in the pen stand 8- place blue pen in the pen stand 9- place pen stand below black object 10- place black pen in the pen stand 11- place blue pen in the pen stand 12- arrange blue pen 13- place pen stand rightward 14- arrange the chair 15- arrange the chair 16- arrange the chair 17- arrange the chair 18- arrange the chair 19- place the pen stand in trolley rack 20- place blue pen in big pen stand Q: next 5 steps? \u003cPRED\u003eA: 1- place pen stand forward 2- place black pen in big pen stand 3- place black pen in big pen stand 4- place blue pen in big pen stand 5- place blue pen in big pen stand\n\u003c/PRED\u003e","video":"17052077860148579491.mp4"}
+{"uid":"9812001887888534846","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: The meeting is finished, put all of the pens back into the pen holder on the cart and push the chairs in Q: immediate next step? \u003cPRED\u003eA: arrange the chair\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: arrange the chair\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: arrange the chair\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: The meeting is finished, put all of the pens back into the pen holder on the cart and push the chairs in. last 20 steps: 1- move right pen stand in the right 2- place the pen stand on the table 3- place blue pen in the pen stand 4- place black pen in the pen stand 5- place the pen stand upward 6- place black pen in pen stand 7- place blue pen in the pen stand 8- place the pen stand leftward 9- place blue pen in the pen stand 10- place black pen in the pen stand 11- move pen stand upward 12- place black pen in the pen stand 13- place blue pen in the pen stand 14- place pen stand below black object 15- place black pen in the pen stand 16- place blue pen in the pen stand 17- arrange blue pen 18- place pen stand rightward 19- arrange the chair Q: next 5 steps? \u003cPRED\u003eA: 1- arrange the chair 2- arrange the chair 3- arrange the chair 4- arrange the chair 5- place the pen stand in trolley rack\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\narrange the chair Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: The meeting is finished, put all of the pens back into the pen holder on the cart and push the chairs in. last 20 steps: 1- move right pen stand in the right 2- place the pen stand on the table 3- place blue pen in the pen stand 4- place black pen in the pen stand 5- place the pen stand upward 6- place black pen in pen stand 7- place blue pen in the pen stand 8- place the pen stand leftward 9- place blue pen in the pen stand 10- place black pen in the pen stand 11- move pen stand upward 12- place black pen in the pen stand 13- place blue pen in the pen stand 14- place pen stand below black object 15- place black pen in the pen stand 16- place blue pen in the pen stand 17- arrange blue pen 18- place pen stand rightward 19- arrange the chair Q: immediate next step? \u003cPRED\u003eA: arrange the chair\n\u003c/PRED\u003e","video":"17928788892043840969.mp4"}
+{"uid":"8914378018749951711","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: The meeting is finished, put all of the pens back into the pen holder on the cart and push the chairs in. last 20 steps: 1- move right pen stand in the right 2- place the pen stand on the table 3- place blue pen in the pen stand 4- place black pen in the pen stand 5- place the pen stand upward 6- place black pen in pen stand 7- place blue pen in the pen stand 8- place the pen stand leftward 9- place blue pen in the pen stand Q: immediate next step? \u003cPRED\u003eA: place black pen in the pen stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: The meeting is finished, put all of the pens back into the pen holder on the cart and push the chairs in. last 20 steps: 1- move right pen stand in the right 2- place the pen stand on the table 3- place blue pen in the pen stand 4- place black pen in the pen stand 5- place the pen stand upward 6- place black pen in pen stand 7- place blue pen in the pen stand 8- place the pen stand leftward 9- place blue pen in the pen stand Q: next 5 steps? \u003cPRED\u003eA: 1- place black pen in the pen stand 2- move pen stand upward 3- place black pen in the pen stand 4- place blue pen in the pen stand 5- place pen stand below black object\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace black pen in the pen stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: The meeting is finished, put all of the pens back into the pen holder on the cart and push the chairs in Q: immediate next step? \u003cPRED\u003eA: place black pen in the pen stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place black pen in the pen stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place black pen in the pen stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace black pen in the pen stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4657060318866203030.mp4"}
+{"uid":"9622382476880571349","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the pen stand upward\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: The meeting is finished, put all of the pens back into the pen holder on the cart and push the chairs in. last 20 steps: 1- move right pen stand in the right 2- place the pen stand on the table 3- place blue pen in the pen stand 4- place black pen in the pen stand 5- place the pen stand upward Q: next 5 steps? \u003cPRED\u003eA: 1- place black pen in pen stand 2- place blue pen in the pen stand 3- place the pen stand leftward 4- place blue pen in the pen stand 5- place black pen in the pen stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place black pen in pen stand\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the pen stand upward Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace black pen in pen stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: The meeting is finished, put all of the pens back into the pen holder on the cart and push the chairs in. last 20 steps: 1- move right pen stand in the right 2- place the pen stand on the table 3- place blue pen in the pen stand 4- place black pen in the pen stand 5- place the pen stand upward Q: immediate next step? \u003cPRED\u003eA: place black pen in pen stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place black pen in pen stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: The meeting is finished, put all of the pens back into the pen holder on the cart and push the chairs in Q: immediate next step? \u003cPRED\u003eA: place black pen in pen stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace black pen in pen stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12310020994889736805.mp4"}
+{"uid":"10007609253410981935","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place black pen in big pen stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: The meeting is finished, put all of the pens back into the pen holder on the cart and push the chairs in. last 20 steps: 1- place the pen stand leftward 2- place blue pen in the pen stand 3- place black pen in the pen stand 4- move pen stand upward 5- place black pen in the pen stand 6- place blue pen in the pen stand 7- place pen stand below black object 8- place black pen in the pen stand 9- place blue pen in the pen stand 10- arrange blue pen 11- place pen stand rightward 12- arrange the chair 13- arrange the chair 14- arrange the chair 15- arrange the chair 16- arrange the chair 17- place the pen stand in trolley rack 18- place blue pen in big pen stand 19- place pen stand forward 20- place black pen in big pen stand Q: immediate next step? \u003cPRED\u003eA: place black pen in big pen stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: The meeting is finished, put all of the pens back into the pen holder on the cart and push the chairs in. last 20 steps: 1- place the pen stand leftward 2- place blue pen in the pen stand 3- place black pen in the pen stand 4- move pen stand upward 5- place black pen in the pen stand 6- place blue pen in the pen stand 7- place pen stand below black object 8- place black pen in the pen stand 9- place blue pen in the pen stand 10- arrange blue pen 11- place pen stand rightward 12- arrange the chair 13- arrange the chair 14- arrange the chair 15- arrange the chair 16- arrange the chair 17- place the pen stand in trolley rack 18- place blue pen in big pen stand 19- place pen stand forward 20- place black pen in big pen stand Q: next 5 steps? \u003cPRED\u003eA: 1- place black pen in big pen stand 2- place blue pen in big pen stand 3- place blue pen in big pen stand 4- place blue pen in big pen stand 5- place black pen in big pen stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place black pen in big pen stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace black pen in big pen stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: The meeting is finished, put all of the pens back into the pen holder on the cart and push the chairs in Q: immediate next step? \u003cPRED\u003eA: place black pen in big pen stand\n\u003c/PRED\u003e","video":"14834836370522839151.mp4"}
+{"uid":"9179787700720281401","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput pens in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"940869889301936513.mp4"}
+{"uid":"14327926474210988119","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack the glass on the top of exiting glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12692100740354990980.mp4"}
+{"uid":"4467912897863257751","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: The meeting is finished, put all of the pens back into the pen holder on the cart and push the chairs in. last 20 steps: 1- move right pen stand in the right 2- place the pen stand on the table 3- place blue pen in the pen stand 4- place black pen in the pen stand 5- place the pen stand upward 6- place black pen in pen stand 7- place blue pen in the pen stand 8- place the pen stand leftward 9- place blue pen in the pen stand 10- place black pen in the pen stand 11- move pen stand upward 12- place black pen in the pen stand 13- place blue pen in the pen stand 14- place pen stand below black object 15- place black pen in the pen stand 16- place blue pen in the pen stand Q: immediate next step? \u003cPRED\u003eA: arrange blue pen\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\narrange blue pen Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\narrange blue pen Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: arrange blue pen\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: arrange blue pen\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: The meeting is finished, put all of the pens back into the pen holder on the cart and push the chairs in. last 20 steps: 1- move right pen stand in the right 2- place the pen stand on the table 3- place blue pen in the pen stand 4- place black pen in the pen stand 5- place the pen stand upward 6- place black pen in pen stand 7- place blue pen in the pen stand 8- place the pen stand leftward 9- place blue pen in the pen stand 10- place black pen in the pen stand 11- move pen stand upward 12- place black pen in the pen stand 13- place blue pen in the pen stand 14- place pen stand below black object 15- place black pen in the pen stand 16- place blue pen in the pen stand Q: next 5 steps? \u003cPRED\u003eA: 1- arrange blue pen 2- place pen stand rightward 3- arrange the chair 4- arrange the chair 5- arrange the chair\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: The meeting is finished, put all of the pens back into the pen holder on the cart and push the chairs in Q: immediate next step? \u003cPRED\u003eA: arrange blue pen\n\u003c/PRED\u003e","video":"7604825931589235365.mp4"}
+{"uid":"15335953838220501241","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput apple in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12924040266485255494.mp4"}
+{"uid":"666940885680692941","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the pen stand on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the pen stand on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the pen stand on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: The meeting is finished, put all of the pens back into the pen holder on the cart and push the chairs in. last 20 steps: 1- move right pen stand in the right Q: immediate next step? \u003cPRED\u003eA: place the pen stand on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: The meeting is finished, put all of the pens back into the pen holder on the cart and push the chairs in Q: immediate next step? \u003cPRED\u003eA: place the pen stand on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: The meeting is finished, put all of the pens back into the pen holder on the cart and push the chairs in. last 20 steps: 1- move right pen stand in the right Q: next 5 steps? \u003cPRED\u003eA: 1- place the pen stand on the table 2- place blue pen in the pen stand 3- place black pen in the pen stand 4- place the pen stand upward 5- place black pen in pen stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the pen stand on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4311028651917918160.mp4"}
+{"uid":"12012395248160517797","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the packet into drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14187462721904307617.mp4"}
+{"uid":"1432375792704636418","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: arrange the chair\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: The meeting is finished, put all of the pens back into the pen holder on the cart and push the chairs in. last 20 steps: 1- move right pen stand in the right 2- place the pen stand on the table 3- place blue pen in the pen stand 4- place black pen in the pen stand 5- place the pen stand upward 6- place black pen in pen stand 7- place blue pen in the pen stand 8- place the pen stand leftward 9- place blue pen in the pen stand 10- place black pen in the pen stand 11- move pen stand upward 12- place black pen in the pen stand 13- place blue pen in the pen stand 14- place pen stand below black object 15- place black pen in the pen stand 16- place blue pen in the pen stand 17- arrange blue pen 18- place pen stand rightward 19- arrange the chair 20- arrange the chair Q: immediate next step? \u003cPRED\u003eA: arrange the chair\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: arrange the chair\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: The meeting is finished, put all of the pens back into the pen holder on the cart and push the chairs in. last 20 steps: 1- move right pen stand in the right 2- place the pen stand on the table 3- place blue pen in the pen stand 4- place black pen in the pen stand 5- place the pen stand upward 6- place black pen in pen stand 7- place blue pen in the pen stand 8- place the pen stand leftward 9- place blue pen in the pen stand 10- place black pen in the pen stand 11- move pen stand upward 12- place black pen in the pen stand 13- place blue pen in the pen stand 14- place pen stand below black object 15- place black pen in the pen stand 16- place blue pen in the pen stand 17- arrange blue pen 18- place pen stand rightward 19- arrange the chair 20- arrange the chair Q: next 5 steps? \u003cPRED\u003eA: 1- arrange the chair 2- arrange the chair 3- arrange the chair 4- place the pen stand in trolley rack 5- place blue pen in big pen stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: arrange the chair\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\narrange the chair Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: The meeting is finished, put all of the pens back into the pen holder on the cart and push the chairs in Q: immediate next step? \u003cPRED\u003eA: arrange the chair\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\narrange the chair Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3435540264877026016.mp4"}
+{"uid":"13817925208553482574","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the packet in the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"878945489005167321.mp4"}
+{"uid":"13330597960613525620","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput a candy into jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8153496121138733428.mp4"}
+{"uid":"14923678826363100155","text":"\u003ctask:success:discrete:False\u003e\nplace black pen in big pen stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace black pen in big pen stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place black pen in big pen stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: The meeting is finished, put all of the pens back into the pen holder on the cart and push the chairs in. last 20 steps: 1- place black pen in the pen stand 2- place blue pen in the pen stand 3- place pen stand below black object 4- place black pen in the pen stand 5- place blue pen in the pen stand 6- arrange blue pen 7- place pen stand rightward 8- arrange the chair 9- arrange the chair 10- arrange the chair 11- arrange the chair 12- arrange the chair 13- place the pen stand in trolley rack 14- place blue pen in big pen stand 15- place pen stand forward 16- place black pen in big pen stand 17- place black pen in big pen stand 18- place blue pen in big pen stand 19- place blue pen in big pen stand 20- place blue pen in big pen stand Q: next 5 steps? \u003cPRED\u003eA: 1- place black pen in big pen stand 2- place blue pen in big pen stand 3- place black pen in big pen stand 4- place black pen in big pen stand 5- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place black pen in big pen stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: The meeting is finished, put all of the pens back into the pen holder on the cart and push the chairs in Q: immediate next step? \u003cPRED\u003eA: place black pen in big pen stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: The meeting is finished, put all of the pens back into the pen holder on the cart and push the chairs in. last 20 steps: 1- place black pen in the pen stand 2- place blue pen in the pen stand 3- place pen stand below black object 4- place black pen in the pen stand 5- place blue pen in the pen stand 6- arrange blue pen 7- place pen stand rightward 8- arrange the chair 9- arrange the chair 10- arrange the chair 11- arrange the chair 12- arrange the chair 13- place the pen stand in trolley rack 14- place blue pen in big pen stand 15- place pen stand forward 16- place black pen in big pen stand 17- place black pen in big pen stand 18- place blue pen in big pen stand 19- place blue pen in big pen stand 20- place blue pen in big pen stand Q: immediate next step? \u003cPRED\u003eA: place black pen in big pen stand\n\u003c/PRED\u003e","video":"11230967169641648403.mp4"}
+{"uid":"11669667806884407656","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place black pen in big pen stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace black pen in big pen stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: The meeting is finished, put all of the pens back into the pen holder on the cart and push the chairs in Q: immediate next step? \u003cPRED\u003eA: place black pen in big pen stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace black pen in big pen stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: The meeting is finished, put all of the pens back into the pen holder on the cart and push the chairs in. last 20 steps: 1- place blue pen in the pen stand 2- place the pen stand leftward 3- place blue pen in the pen stand 4- place black pen in the pen stand 5- move pen stand upward 6- place black pen in the pen stand 7- place blue pen in the pen stand 8- place pen stand below black object 9- place black pen in the pen stand 10- place blue pen in the pen stand 11- arrange blue pen 12- place pen stand rightward 13- arrange the chair 14- arrange the chair 15- arrange the chair 16- arrange the chair 17- arrange the chair 18- place the pen stand in trolley rack 19- place blue pen in big pen stand 20- place pen stand forward Q: next 5 steps? \u003cPRED\u003eA: 1- place black pen in big pen stand 2- place black pen in big pen stand 3- place blue pen in big pen stand 4- place blue pen in big pen stand 5- place blue pen in big pen stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: The meeting is finished, put all of the pens back into the pen holder on the cart and push the chairs in. last 20 steps: 1- place blue pen in the pen stand 2- place the pen stand leftward 3- place blue pen in the pen stand 4- place black pen in the pen stand 5- move pen stand upward 6- place black pen in the pen stand 7- place blue pen in the pen stand 8- place pen stand below black object 9- place black pen in the pen stand 10- place blue pen in the pen stand 11- arrange blue pen 12- place pen stand rightward 13- arrange the chair 14- arrange the chair 15- arrange the chair 16- arrange the chair 17- arrange the chair 18- place the pen stand in trolley rack 19- place blue pen in big pen stand 20- place pen stand forward Q: immediate next step? \u003cPRED\u003eA: place black pen in big pen stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place black pen in big pen stand\n\u003c/PRED\u003e","video":"1732875609311851941.mp4"}
+{"uid":"11932114414420470645","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrag the notepad to the bottom of the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17108807058275897839.mp4"}
+{"uid":"3434821195001298753","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: The meeting is finished, put all of the pens back into the pen holder on the cart and push the chairs in Q: immediate next step? \u003cPRED\u003eA: place the pen stand leftward\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the pen stand leftward\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: The meeting is finished, put all of the pens back into the pen holder on the cart and push the chairs in. last 20 steps: 1- move right pen stand in the right 2- place the pen stand on the table 3- place blue pen in the pen stand 4- place black pen in the pen stand 5- place the pen stand upward 6- place black pen in pen stand 7- place blue pen in the pen stand Q: immediate next step? \u003cPRED\u003eA: place the pen stand leftward\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the pen stand leftward Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: The meeting is finished, put all of the pens back into the pen holder on the cart and push the chairs in. last 20 steps: 1- move right pen stand in the right 2- place the pen stand on the table 3- place blue pen in the pen stand 4- place black pen in the pen stand 5- place the pen stand upward 6- place black pen in pen stand 7- place blue pen in the pen stand Q: next 5 steps? \u003cPRED\u003eA: 1- place the pen stand leftward 2- place blue pen in the pen stand 3- place black pen in the pen stand 4- move pen stand upward 5- place black pen in the pen stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the pen stand leftward Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the pen stand leftward\n\u003c/PRED\u003e","video":"5983565917019212351.mp4"}
+{"uid":"5692456354959615874","text":"\u003ctask:success:discrete:False\u003e\nmove pen stand upward Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: The meeting is finished, put all of the pens back into the pen holder on the cart and push the chairs in. last 20 steps: 1- move right pen stand in the right 2- place the pen stand on the table 3- place blue pen in the pen stand 4- place black pen in the pen stand 5- place the pen stand upward 6- place black pen in pen stand 7- place blue pen in the pen stand 8- place the pen stand leftward 9- place blue pen in the pen stand 10- place black pen in the pen stand Q: next 5 steps? \u003cPRED\u003eA: 1- move pen stand upward 2- place black pen in the pen stand 3- place blue pen in the pen stand 4- place pen stand below black object 5- place black pen in the pen stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove pen stand upward Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: The meeting is finished, put all of the pens back into the pen holder on the cart and push the chairs in Q: immediate next step? \u003cPRED\u003eA: move pen stand upward\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move pen stand upward\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: The meeting is finished, put all of the pens back into the pen holder on the cart and push the chairs in. last 20 steps: 1- move right pen stand in the right 2- place the pen stand on the table 3- place blue pen in the pen stand 4- place black pen in the pen stand 5- place the pen stand upward 6- place black pen in pen stand 7- place blue pen in the pen stand 8- place the pen stand leftward 9- place blue pen in the pen stand 10- place black pen in the pen stand Q: immediate next step? \u003cPRED\u003eA: move pen stand upward\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move pen stand upward\n\u003c/PRED\u003e","video":"1038187377666247666.mp4"}
+{"uid":"18405865813398024359","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: The meeting is finished, put all of the pens back into the pen holder on the cart and push the chairs in. last 20 steps: 1- move right pen stand in the right 2- place the pen stand on the table 3- place blue pen in the pen stand 4- place black pen in the pen stand Q: next 5 steps? \u003cPRED\u003eA: 1- place the pen stand upward 2- place black pen in pen stand 3- place blue pen in the pen stand 4- place the pen stand leftward 5- place blue pen in the pen stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the pen stand upward Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the pen stand upward\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the pen stand upward Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: The meeting is finished, put all of the pens back into the pen holder on the cart and push the chairs in Q: immediate next step? \u003cPRED\u003eA: place the pen stand upward\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the pen stand upward\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: The meeting is finished, put all of the pens back into the pen holder on the cart and push the chairs in. last 20 steps: 1- move right pen stand in the right 2- place the pen stand on the table 3- place blue pen in the pen stand 4- place black pen in the pen stand Q: immediate next step? \u003cPRED\u003eA: place the pen stand upward\n\u003c/PRED\u003e","video":"7306754185974771492.mp4"}
+{"uid":"15959499646597965389","text":"\u003ctask:success:discrete:False\u003e\nplace blue pen in big pen stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the pen stand in trolley rack\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the pen stand in trolley rack Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place blue pen in big pen stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place blue pen in big pen stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace blue pen in big pen stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: The meeting is finished, put all of the pens back into the pen holder on the cart and push the chairs in. last 20 steps: 1- place the pen stand upward 2- place black pen in pen stand 3- place blue pen in the pen stand 4- place the pen stand leftward 5- place blue pen in the pen stand 6- place black pen in the pen stand 7- move pen stand upward 8- place black pen in the pen stand 9- place blue pen in the pen stand 10- place pen stand below black object 11- place black pen in the pen stand 12- place blue pen in the pen stand 13- arrange blue pen 14- place pen stand rightward 15- arrange the chair 16- arrange the chair 17- arrange the chair 18- arrange the chair 19- arrange the chair 20- place the pen stand in trolley rack Q: immediate next step? \u003cPRED\u003eA: place blue pen in big pen stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: The meeting is finished, put all of the pens back into the pen holder on the cart and push the chairs in. last 20 steps: 1- place the pen stand upward 2- place black pen in pen stand 3- place blue pen in the pen stand 4- place the pen stand leftward 5- place blue pen in the pen stand 6- place black pen in the pen stand 7- move pen stand upward 8- place black pen in the pen stand 9- place blue pen in the pen stand 10- place pen stand below black object 11- place black pen in the pen stand 12- place blue pen in the pen stand 13- arrange blue pen 14- place pen stand rightward 15- arrange the chair 16- arrange the chair 17- arrange the chair 18- arrange the chair 19- arrange the chair 20- place the pen stand in trolley rack Q: next 5 steps? \u003cPRED\u003eA: 1- place blue pen in big pen stand 2- place pen stand forward 3- place black pen in big pen stand 4- place black pen in big pen stand 5- place blue pen in big pen stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: The meeting is finished, put all of the pens back into the pen holder on the cart and push the chairs in Q: immediate next step? \u003cPRED\u003eA: place blue pen in big pen stand\n\u003c/PRED\u003e","video":"5792656449340176224.mp4"}
+{"uid":"13613997787776543071","text":"\u003ctask:success:discrete:True\u003e\nmove right pen stand in the right Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move right pen stand in the right\n\u003c/PRED\u003e","video":"4800855618778929870.mp4"}
+{"uid":"17042258908376166600","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: arrange the chair\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the pen stand in trolley rack Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: The meeting is finished, put all of the pens back into the pen holder on the cart and push the chairs in. last 20 steps: 1- place black pen in the pen stand 2- place the pen stand upward 3- place black pen in pen stand 4- place blue pen in the pen stand 5- place the pen stand leftward 6- place blue pen in the pen stand 7- place black pen in the pen stand 8- move pen stand upward 9- place black pen in the pen stand 10- place blue pen in the pen stand 11- place pen stand below black object 12- place black pen in the pen stand 13- place blue pen in the pen stand 14- arrange blue pen 15- place pen stand rightward 16- arrange the chair 17- arrange the chair 18- arrange the chair 19- arrange the chair 20- arrange the chair Q: immediate next step? \u003cPRED\u003eA: place the pen stand in trolley rack\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: The meeting is finished, put all of the pens back into the pen holder on the cart and push the chairs in. last 20 steps: 1- place black pen in the pen stand 2- place the pen stand upward 3- place black pen in pen stand 4- place blue pen in the pen stand 5- place the pen stand leftward 6- place blue pen in the pen stand 7- place black pen in the pen stand 8- move pen stand upward 9- place black pen in the pen stand 10- place blue pen in the pen stand 11- place pen stand below black object 12- place black pen in the pen stand 13- place blue pen in the pen stand 14- arrange blue pen 15- place pen stand rightward 16- arrange the chair 17- arrange the chair 18- arrange the chair 19- arrange the chair 20- arrange the chair Q: next 5 steps? \u003cPRED\u003eA: 1- place the pen stand in trolley rack 2- place blue pen in big pen stand 3- place pen stand forward 4- place black pen in big pen stand 5- place black pen in big pen stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: The meeting is finished, put all of the pens back into the pen holder on the cart and push the chairs in Q: immediate next step? \u003cPRED\u003eA: place the pen stand in trolley rack\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the pen stand in trolley rack Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the pen stand in trolley rack\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\narrange the chair Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the pen stand in trolley rack\n\u003c/PRED\u003e","video":"16738552568006898940.mp4"}
+{"uid":"14347894060080790281","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove away from the duster. Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12352326344703031323.mp4"}
+{"uid":"5106688683004507858","text":"\u003ctask:success:discrete:False\u003e\nplace black pen in the pen stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: The meeting is finished, put all of the pens back into the pen holder on the cart and push the chairs in. last 20 steps: 1- move right pen stand in the right 2- place the pen stand on the table 3- place blue pen in the pen stand Q: immediate next step? \u003cPRED\u003eA: place black pen in the pen stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place black pen in the pen stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place black pen in the pen stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: The meeting is finished, put all of the pens back into the pen holder on the cart and push the chairs in Q: immediate next step? \u003cPRED\u003eA: place black pen in the pen stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: The meeting is finished, put all of the pens back into the pen holder on the cart and push the chairs in. last 20 steps: 1- move right pen stand in the right 2- place the pen stand on the table 3- place blue pen in the pen stand Q: next 5 steps? \u003cPRED\u003eA: 1- place black pen in the pen stand 2- place the pen stand upward 3- place black pen in pen stand 4- place blue pen in the pen stand 5- place the pen stand leftward\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace black pen in the pen stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10580509480159430563.mp4"}
+{"uid":"15688634448821706153","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up the brown packets Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3468602307849712270.mp4"}
+{"uid":"3467928691078712394","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput white packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16830042957498393593.mp4"}
+{"uid":"10014609258047635936","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace blue pen in big pen stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: The meeting is finished, put all of the pens back into the pen holder on the cart and push the chairs in. last 20 steps: 1- place blue pen in the pen stand 2- place black pen in the pen stand 3- move pen stand upward 4- place black pen in the pen stand 5- place blue pen in the pen stand 6- place pen stand below black object 7- place black pen in the pen stand 8- place blue pen in the pen stand 9- arrange blue pen 10- place pen stand rightward 11- arrange the chair 12- arrange the chair 13- arrange the chair 14- arrange the chair 15- arrange the chair 16- place the pen stand in trolley rack 17- place blue pen in big pen stand 18- place pen stand forward 19- place black pen in big pen stand 20- place black pen in big pen stand Q: immediate next step? \u003cPRED\u003eA: place blue pen in big pen stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place blue pen in big pen stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place blue pen in big pen stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: The meeting is finished, put all of the pens back into the pen holder on the cart and push the chairs in. last 20 steps: 1- place blue pen in the pen stand 2- place black pen in the pen stand 3- move pen stand upward 4- place black pen in the pen stand 5- place blue pen in the pen stand 6- place pen stand below black object 7- place black pen in the pen stand 8- place blue pen in the pen stand 9- arrange blue pen 10- place pen stand rightward 11- arrange the chair 12- arrange the chair 13- arrange the chair 14- arrange the chair 15- arrange the chair 16- place the pen stand in trolley rack 17- place blue pen in big pen stand 18- place pen stand forward 19- place black pen in big pen stand 20- place black pen in big pen stand Q: next 5 steps? \u003cPRED\u003eA: 1- place blue pen in big pen stand 2- place blue pen in big pen stand 3- place blue pen in big pen stand 4- place black pen in big pen stand 5- place blue pen in big pen stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: The meeting is finished, put all of the pens back into the pen holder on the cart and push the chairs in Q: immediate next step? \u003cPRED\u003eA: place blue pen in big pen stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace blue pen in big pen stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5970105531528386137.mp4"}
+{"uid":"5186551180339071236","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove towards the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7742493812129920503.mp4"}
+{"uid":"9134029995462368274","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop the orange snookers ball on the snookers board Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"846103356344255317.mp4"}
+{"uid":"808883076741002544","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pista into the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3887760671553662691.mp4"}
+{"uid":"3595709447753115087","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput white packet in the cardboard box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13721966897858759300.mp4"}
+{"uid":"10842861806321284679","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9395798615708939728.mp4"}
+{"uid":"15285352232206962961","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nGo to the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"411278969034581505.mp4"}
+{"uid":"6324656331517734828","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: The meeting is finished, put all of the pens back into the pen holder on the cart and push the chairs in. last 20 steps: 1- move right pen stand in the right 2- place the pen stand on the table 3- place blue pen in the pen stand 4- place black pen in the pen stand 5- place the pen stand upward 6- place black pen in pen stand 7- place blue pen in the pen stand 8- place the pen stand leftward 9- place blue pen in the pen stand 10- place black pen in the pen stand 11- move pen stand upward 12- place black pen in the pen stand Q: immediate next step? \u003cPRED\u003eA: place blue pen in the pen stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place blue pen in the pen stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place blue pen in the pen stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the yellow cup on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: The meeting is finished, put all of the pens back into the pen holder on the cart and push the chairs in Q: immediate next step? \u003cPRED\u003eA: place blue pen in the pen stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace blue pen in the pen stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace blue pen in the pen stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: The meeting is finished, put all of the pens back into the pen holder on the cart and push the chairs in. last 20 steps: 1- move right pen stand in the right 2- place the pen stand on the table 3- place blue pen in the pen stand 4- place black pen in the pen stand 5- place the pen stand upward 6- place black pen in pen stand 7- place blue pen in the pen stand 8- place the pen stand leftward 9- place blue pen in the pen stand 10- place black pen in the pen stand 11- move pen stand upward 12- place black pen in the pen stand Q: next 5 steps? \u003cPRED\u003eA: 1- place blue pen in the pen stand 2- place pen stand below black object 3- place black pen in the pen stand 4- place blue pen in the pen stand 5- arrange blue pen\n\u003c/PRED\u003e","video":"17973772007029434534.mp4"}
+{"uid":"11682489162775206435","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: arrange the chair\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\narrange the chair Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: arrange the chair\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: The meeting is finished, put all of the pens back into the pen holder on the cart and push the chairs in. last 20 steps: 1- place the pen stand on the table 2- place blue pen in the pen stand 3- place black pen in the pen stand 4- place the pen stand upward 5- place black pen in pen stand 6- place blue pen in the pen stand 7- place the pen stand leftward 8- place blue pen in the pen stand 9- place black pen in the pen stand 10- move pen stand upward 11- place black pen in the pen stand 12- place blue pen in the pen stand 13- place pen stand below black object 14- place black pen in the pen stand 15- place blue pen in the pen stand 16- arrange blue pen 17- place pen stand rightward 18- arrange the chair 19- arrange the chair 20- arrange the chair Q: immediate next step? \u003cPRED\u003eA: arrange the chair\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: The meeting is finished, put all of the pens back into the pen holder on the cart and push the chairs in. last 20 steps: 1- place the pen stand on the table 2- place blue pen in the pen stand 3- place black pen in the pen stand 4- place the pen stand upward 5- place black pen in pen stand 6- place blue pen in the pen stand 7- place the pen stand leftward 8- place blue pen in the pen stand 9- place black pen in the pen stand 10- move pen stand upward 11- place black pen in the pen stand 12- place blue pen in the pen stand 13- place pen stand below black object 14- place black pen in the pen stand 15- place blue pen in the pen stand 16- arrange blue pen 17- place pen stand rightward 18- arrange the chair 19- arrange the chair 20- arrange the chair Q: next 5 steps? \u003cPRED\u003eA: 1- arrange the chair 2- arrange the chair 3- place the pen stand in trolley rack 4- place blue pen in big pen stand 5- place pen stand forward\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: arrange the chair\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: The meeting is finished, put all of the pens back into the pen holder on the cart and push the chairs in Q: immediate next step? \u003cPRED\u003eA: arrange the chair\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\narrange the chair Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11640343265789282485.mp4"}
+{"uid":"11599459803432262672","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the pistachio in a cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4403142569195533317.mp4"}
+{"uid":"1339888943241069715","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the candy in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14670492873722296610.mp4"}
+{"uid":"8150244150669585713","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place black pen in the pen stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace black pen in the pen stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: The meeting is finished, put all of the pens back into the pen holder on the cart and push the chairs in Q: immediate next step? \u003cPRED\u003eA: place black pen in the pen stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: The meeting is finished, put all of the pens back into the pen holder on the cart and push the chairs in. last 20 steps: 1- move right pen stand in the right 2- place the pen stand on the table 3- place blue pen in the pen stand 4- place black pen in the pen stand 5- place the pen stand upward 6- place black pen in pen stand 7- place blue pen in the pen stand 8- place the pen stand leftward 9- place blue pen in the pen stand 10- place black pen in the pen stand 11- move pen stand upward 12- place black pen in the pen stand 13- place blue pen in the pen stand 14- place pen stand below black object Q: next 5 steps? \u003cPRED\u003eA: 1- place black pen in the pen stand 2- place blue pen in the pen stand 3- arrange blue pen 4- place pen stand rightward 5- arrange the chair\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace pen stand below black object Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace black pen in the pen stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place black pen in the pen stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: The meeting is finished, put all of the pens back into the pen holder on the cart and push the chairs in. last 20 steps: 1- move right pen stand in the right 2- place the pen stand on the table 3- place blue pen in the pen stand 4- place black pen in the pen stand 5- place the pen stand upward 6- place black pen in pen stand 7- place blue pen in the pen stand 8- place the pen stand leftward 9- place blue pen in the pen stand 10- place black pen in the pen stand 11- move pen stand upward 12- place black pen in the pen stand 13- place blue pen in the pen stand 14- place pen stand below black object Q: immediate next step? \u003cPRED\u003eA: place black pen in the pen stand\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place pen stand below black object\n\u003c/PRED\u003e","video":"2202137945893347260.mp4"}
+{"uid":"11809244089163150748","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: The meeting is finished, put all of the pens back into the pen holder on the cart and push the chairs in Q: immediate next step? \u003cPRED\u003eA: place blue pen in big pen stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: The meeting is finished, put all of the pens back into the pen holder on the cart and push the chairs in. last 20 steps: 1- place black pen in the pen stand 2- move pen stand upward 3- place black pen in the pen stand 4- place blue pen in the pen stand 5- place pen stand below black object 6- place black pen in the pen stand 7- place blue pen in the pen stand 8- arrange blue pen 9- place pen stand rightward 10- arrange the chair 11- arrange the chair 12- arrange the chair 13- arrange the chair 14- arrange the chair 15- place the pen stand in trolley rack 16- place blue pen in big pen stand 17- place pen stand forward 18- place black pen in big pen stand 19- place black pen in big pen stand 20- place blue pen in big pen stand Q: immediate next step? \u003cPRED\u003eA: place blue pen in big pen stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place blue pen in big pen stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place blue pen in big pen stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: The meeting is finished, put all of the pens back into the pen holder on the cart and push the chairs in. last 20 steps: 1- place black pen in the pen stand 2- move pen stand upward 3- place black pen in the pen stand 4- place blue pen in the pen stand 5- place pen stand below black object 6- place black pen in the pen stand 7- place blue pen in the pen stand 8- arrange blue pen 9- place pen stand rightward 10- arrange the chair 11- arrange the chair 12- arrange the chair 13- arrange the chair 14- arrange the chair 15- place the pen stand in trolley rack 16- place blue pen in big pen stand 17- place pen stand forward 18- place black pen in big pen stand 19- place black pen in big pen stand 20- place blue pen in big pen stand Q: next 5 steps? \u003cPRED\u003eA: 1- place blue pen in big pen stand 2- place blue pen in big pen stand 3- place black pen in big pen stand 4- place blue pen in big pen stand 5- place black pen in big pen stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace blue pen in big pen stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16831278063890869224.mp4"}
+{"uid":"10881394285320975307","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace pen stand below black object Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place pen stand below black object\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace pen stand below black object Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: The meeting is finished, put all of the pens back into the pen holder on the cart and push the chairs in. last 20 steps: 1- move right pen stand in the right 2- place the pen stand on the table 3- place blue pen in the pen stand 4- place black pen in the pen stand 5- place the pen stand upward 6- place black pen in pen stand 7- place blue pen in the pen stand 8- place the pen stand leftward 9- place blue pen in the pen stand 10- place black pen in the pen stand 11- move pen stand upward 12- place black pen in the pen stand 13- place blue pen in the pen stand Q: immediate next step? \u003cPRED\u003eA: place pen stand below black object\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place pen stand below black object\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: The meeting is finished, put all of the pens back into the pen holder on the cart and push the chairs in Q: immediate next step? \u003cPRED\u003eA: place pen stand below black object\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: The meeting is finished, put all of the pens back into the pen holder on the cart and push the chairs in. last 20 steps: 1- move right pen stand in the right 2- place the pen stand on the table 3- place blue pen in the pen stand 4- place black pen in the pen stand 5- place the pen stand upward 6- place black pen in pen stand 7- place blue pen in the pen stand 8- place the pen stand leftward 9- place blue pen in the pen stand 10- place black pen in the pen stand 11- move pen stand upward 12- place black pen in the pen stand 13- place blue pen in the pen stand Q: next 5 steps? \u003cPRED\u003eA: 1- place pen stand below black object 2- place black pen in the pen stand 3- place blue pen in the pen stand 4- arrange blue pen 5- place pen stand rightward\n\u003c/PRED\u003e","video":"5215089586886222013.mp4"}
+{"uid":"10132839832140395973","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace blue pen in the pen stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place blue pen in the pen stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace blue pen in the pen stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: The meeting is finished, put all of the pens back into the pen holder on the cart and push the chairs in. last 20 steps: 1- move right pen stand in the right 2- place the pen stand on the table 3- place blue pen in the pen stand 4- place black pen in the pen stand 5- place the pen stand upward 6- place black pen in pen stand 7- place blue pen in the pen stand 8- place the pen stand leftward 9- place blue pen in the pen stand 10- place black pen in the pen stand 11- move pen stand upward 12- place black pen in the pen stand 13- place blue pen in the pen stand 14- place pen stand below black object 15- place black pen in the pen stand Q: next 5 steps? \u003cPRED\u003eA: 1- place blue pen in the pen stand 2- arrange blue pen 3- place pen stand rightward 4- arrange the chair 5- arrange the chair\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: The meeting is finished, put all of the pens back into the pen holder on the cart and push the chairs in Q: immediate next step? \u003cPRED\u003eA: place blue pen in the pen stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: The meeting is finished, put all of the pens back into the pen holder on the cart and push the chairs in. last 20 steps: 1- move right pen stand in the right 2- place the pen stand on the table 3- place blue pen in the pen stand 4- place black pen in the pen stand 5- place the pen stand upward 6- place black pen in pen stand 7- place blue pen in the pen stand 8- place the pen stand leftward 9- place blue pen in the pen stand 10- place black pen in the pen stand 11- move pen stand upward 12- place black pen in the pen stand 13- place blue pen in the pen stand 14- place pen stand below black object 15- place black pen in the pen stand Q: immediate next step? \u003cPRED\u003eA: place blue pen in the pen stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place blue pen in the pen stand\n\u003c/PRED\u003e","video":"1236506789348993596.mp4"}
+{"uid":"10039176334353629036","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: The meeting is finished, put all of the pens back into the pen holder on the cart and push the chairs in. last 20 steps: 1- place blue pen in the pen stand 2- place black pen in the pen stand 3- place the pen stand upward 4- place black pen in pen stand 5- place blue pen in the pen stand 6- place the pen stand leftward 7- place blue pen in the pen stand 8- place black pen in the pen stand 9- move pen stand upward 10- place black pen in the pen stand 11- place blue pen in the pen stand 12- place pen stand below black object 13- place black pen in the pen stand 14- place blue pen in the pen stand 15- arrange blue pen 16- place pen stand rightward 17- arrange the chair 18- arrange the chair 19- arrange the chair 20- arrange the chair Q: next 5 steps? \u003cPRED\u003eA: 1- arrange the chair 2- place the pen stand in trolley rack 3- place blue pen in big pen stand 4- place pen stand forward 5- place black pen in big pen stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: The meeting is finished, put all of the pens back into the pen holder on the cart and push the chairs in Q: immediate next step? \u003cPRED\u003eA: arrange the chair\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: The meeting is finished, put all of the pens back into the pen holder on the cart and push the chairs in. last 20 steps: 1- place blue pen in the pen stand 2- place black pen in the pen stand 3- place the pen stand upward 4- place black pen in pen stand 5- place blue pen in the pen stand 6- place the pen stand leftward 7- place blue pen in the pen stand 8- place black pen in the pen stand 9- move pen stand upward 10- place black pen in the pen stand 11- place blue pen in the pen stand 12- place pen stand below black object 13- place black pen in the pen stand 14- place blue pen in the pen stand 15- arrange blue pen 16- place pen stand rightward 17- arrange the chair 18- arrange the chair 19- arrange the chair 20- arrange the chair Q: immediate next step? \u003cPRED\u003eA: arrange the chair\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: arrange the chair\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\narrange the chair Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: arrange the chair\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\narrange the chair Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: arrange the chair\n\u003c/PRED\u003e","video":"11578131996480309135.mp4"}
+{"uid":"1038043742737744675","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: The meeting is finished, put all of the pens back into the pen holder on the cart and push the chairs in Q: immediate next step? \u003cPRED\u003eA: place blue pen in big pen stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place blue pen in big pen stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace blue pen in big pen stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: The meeting is finished, put all of the pens back into the pen holder on the cart and push the chairs in. last 20 steps: 1- place blue pen in the pen stand 2- place pen stand below black object 3- place black pen in the pen stand 4- place blue pen in the pen stand 5- arrange blue pen 6- place pen stand rightward 7- arrange the chair 8- arrange the chair 9- arrange the chair 10- arrange the chair 11- arrange the chair 12- place the pen stand in trolley rack 13- place blue pen in big pen stand 14- place pen stand forward 15- place black pen in big pen stand 16- place black pen in big pen stand 17- place blue pen in big pen stand 18- place blue pen in big pen stand 19- place blue pen in big pen stand 20- place black pen in big pen stand Q: next 5 steps? \u003cPRED\u003eA: 1- place blue pen in big pen stand 2- place black pen in big pen stand 3- place black pen in big pen stand 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place blue pen in big pen stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace blue pen in big pen stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: The meeting is finished, put all of the pens back into the pen holder on the cart and push the chairs in. last 20 steps: 1- place blue pen in the pen stand 2- place pen stand below black object 3- place black pen in the pen stand 4- place blue pen in the pen stand 5- arrange blue pen 6- place pen stand rightward 7- arrange the chair 8- arrange the chair 9- arrange the chair 10- arrange the chair 11- arrange the chair 12- place the pen stand in trolley rack 13- place blue pen in big pen stand 14- place pen stand forward 15- place black pen in big pen stand 16- place black pen in big pen stand 17- place blue pen in big pen stand 18- place blue pen in big pen stand 19- place blue pen in big pen stand 20- place black pen in big pen stand Q: immediate next step? \u003cPRED\u003eA: place blue pen in big pen stand\n\u003c/PRED\u003e","video":"12043531235531328103.mp4"}
+{"uid":"8289715144127699438","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: The meeting is finished, put all of the pens back into the pen holder on the cart and push the chairs in. last 20 steps: 1- move right pen stand in the right 2- place the pen stand on the table 3- place blue pen in the pen stand 4- place black pen in the pen stand 5- place the pen stand upward 6- place black pen in pen stand 7- place blue pen in the pen stand 8- place the pen stand leftward Q: next 5 steps? \u003cPRED\u003eA: 1- place blue pen in the pen stand 2- place black pen in the pen stand 3- move pen stand upward 4- place black pen in the pen stand 5- place blue pen in the pen stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place blue pen in the pen stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace blue pen in the pen stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: The meeting is finished, put all of the pens back into the pen holder on the cart and push the chairs in. last 20 steps: 1- move right pen stand in the right 2- place the pen stand on the table 3- place blue pen in the pen stand 4- place black pen in the pen stand 5- place the pen stand upward 6- place black pen in pen stand 7- place blue pen in the pen stand 8- place the pen stand leftward Q: immediate next step? \u003cPRED\u003eA: place blue pen in the pen stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place blue pen in the pen stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: The meeting is finished, put all of the pens back into the pen holder on the cart and push the chairs in Q: immediate next step? \u003cPRED\u003eA: place blue pen in the pen stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace blue pen in the pen stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the pen stand leftward\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the pen stand leftward Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5037571795617117024.mp4"}
+{"uid":"5774796072586421736","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput a green tea  in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17380121929991500775.mp4"}
+{"uid":"7484460376341864396","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"575933529863625364.mp4"}
+{"uid":"13780384922489770007","text":"\u003ctask:success:discrete:False\u003e\nplace blue pen in the pen stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place blue pen in the pen stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: The meeting is finished, put all of the pens back into the pen holder on the cart and push the chairs in Q: immediate next step? \u003cPRED\u003eA: place blue pen in the pen stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace blue pen in the pen stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: The meeting is finished, put all of the pens back into the pen holder on the cart and push the chairs in. last 20 steps: 1- move right pen stand in the right 2- place the pen stand on the table 3- place blue pen in the pen stand 4- place black pen in the pen stand 5- place the pen stand upward 6- place black pen in pen stand Q: next 5 steps? \u003cPRED\u003eA: 1- place blue pen in the pen stand 2- place the pen stand leftward 3- place blue pen in the pen stand 4- place black pen in the pen stand 5- move pen stand upward\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place blue pen in the pen stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: The meeting is finished, put all of the pens back into the pen holder on the cart and push the chairs in. last 20 steps: 1- move right pen stand in the right 2- place the pen stand on the table 3- place blue pen in the pen stand 4- place black pen in the pen stand 5- place the pen stand upward 6- place black pen in pen stand Q: immediate next step? \u003cPRED\u003eA: place blue pen in the pen stand\n\u003c/PRED\u003e","video":"1472612176049573893.mp4"}
+{"uid":"8606140521000617596","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: The meeting is finished, put all of the pens back into the pen holder on the cart and push the chairs in Q: immediate next step? \u003cPRED\u003eA: place blue pen in the pen stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place blue pen in the pen stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace blue pen in the pen stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: The meeting is finished, put all of the pens back into the pen holder on the cart and push the chairs in. last 20 steps: 1- move right pen stand in the right 2- place the pen stand on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place blue pen in the pen stand 2- place black pen in the pen stand 3- place the pen stand upward 4- place black pen in pen stand 5- place blue pen in the pen stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place blue pen in the pen stand\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the pen stand on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace blue pen in the pen stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the pen stand on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: The meeting is finished, put all of the pens back into the pen holder on the cart and push the chairs in. last 20 steps: 1- move right pen stand in the right 2- place the pen stand on the table Q: immediate next step? \u003cPRED\u003eA: place blue pen in the pen stand\n\u003c/PRED\u003e","video":"8537183109768948365.mp4"}
+{"uid":"14331789060204972396","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the red candy in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3301480861104114838.mp4"}
+{"uid":"12949292049779960888","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the silver packet in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14974700556572552803.mp4"}
+{"uid":"14135724676661734334","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nadjust the paper Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5065374413953798242.mp4"}
+{"uid":"10497121426349753452","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput boat in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1929156174311940916.mp4"}
+{"uid":"2646021059818061022","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the tissue on the other side of the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11547201992673105229.mp4"}
+{"uid":"9773319565673727398","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pistachio in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13732424094719579280.mp4"}
+{"uid":"7148243683605185674","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up the bottom right pen from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17432430200742305181.mp4"}
+{"uid":"18147893954662558588","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove the desktop to right side Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13567288894437519948.mp4"}
+{"uid":"226116094914681788","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the packet into the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the packet into the jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- throw the coffee cup in the bin 2- throw the crushed paper into the bin 3- place the glass in the recycle bin 4- put the packet into the jar 5- put the packet into the jar Q: next 5 steps? \u003cPRED\u003eA: 1- put the packet into the jar 2- put the packet into the jar 3- put the packet into the jar 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- throw the coffee cup in the bin 2- throw the crushed paper into the bin 3- place the glass in the recycle bin 4- put the packet into the jar 5- put the packet into the jar Q: immediate next step? \u003cPRED\u003eA: put the packet into the jar\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the packet into the jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar Q: immediate next step? \u003cPRED\u003eA: put the packet into the jar\n\u003c/PRED\u003e","video":"2643012661171817820.mp4"}
+{"uid":"11837500986412399875","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the packet in jar\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the packet in jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13572948019443976901.mp4"}
+{"uid":"14434168976851380820","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the orange pen in a pen stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17588466559639439751.mp4"}
+{"uid":"15356137328061511436","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the white chocolate in a glass. Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18295397813911581078.mp4"}
+{"uid":"18058771089967293311","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the pen into the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11483927246292608457.mp4"}
+{"uid":"1285390109424477714","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput red pen on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16657435620497207225.mp4"}
+{"uid":"3846436090384198844","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove the basket left Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"837051504587454983.mp4"}
+{"uid":"14665646681566239254","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the packet into the jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar Q: immediate next step? \u003cPRED\u003eA: put the packet into the jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the packet into the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the packet into the jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- throw the coffee cup in the bin 2- throw the crushed paper into the bin 3- place the glass in the recycle bin 4- put the packet into the jar 5- put the packet into the jar 6- put the packet into the jar Q: next 5 steps? \u003cPRED\u003eA: 1- put the packet into the jar 2- put the packet into the jar 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- throw the coffee cup in the bin 2- throw the crushed paper into the bin 3- place the glass in the recycle bin 4- put the packet into the jar 5- put the packet into the jar 6- put the packet into the jar Q: immediate next step? \u003cPRED\u003eA: put the packet into the jar\n\u003c/PRED\u003e","video":"703213608548030034.mp4"}
+{"uid":"17922962892456816049","text":"\u003ctask:success:discrete:True\u003e\nplace the packet in jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the packet in jar\n\u003c/PRED\u003e","video":"1810100100331413450.mp4"}
+{"uid":"10393463711552827985","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the blue packet in the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the blue packet in the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the blue packet in the jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar Q: immediate next step? \u003cPRED\u003eA: put the blue packet in the jar\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- throw the coffee cup in the bin 2- throw the crushed paper into the bin 3- place the glass in the recycle bin 4- put the packet into the jar 5- put the packet into the jar 6- put the packet into the jar Q: immediate next step? \u003cPRED\u003eA: put the blue packet in the jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- throw the coffee cup in the bin 2- throw the crushed paper into the bin 3- place the glass in the recycle bin 4- put the packet into the jar 5- put the packet into the jar 6- put the packet into the jar Q: next 5 steps? \u003cPRED\u003eA: 1- put the blue packet in the jar 2- put the packet into the jar 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the blue packet in the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9386060913373348289.mp4"}
+{"uid":"7048125323621149873","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput candy in tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17081150577345356627.mp4"}
+{"uid":"7444862593565142493","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput spoon in cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2114848838051446399.mp4"}
+{"uid":"8602823635555045576","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar Q: immediate next step? \u003cPRED\u003eA: place the packet in jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the packet in jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- throw the coffee cup in the bin 2- throw the crushed paper into the bin 3- place the glass in the recycle bin Q: next 5 steps? \u003cPRED\u003eA: 1- place the packet in jar 2- put the packet into the jar 3- put the packet into the jar 4- put the packet into the jar 5- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- throw the coffee cup in the bin 2- throw the crushed paper into the bin 3- place the glass in the recycle bin Q: immediate next step? \u003cPRED\u003eA: place the packet in jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the packet in jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the packet in jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the packet in jar\n\u003c/PRED\u003e","video":"10363586221478929571.mp4"}
+{"uid":"4846725316058755164","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the pen in the left holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7733914047271922247.mp4"}
+{"uid":"4320722201796102887","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack coffee cups on top of existing stack Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5333329796499670500.mp4"}
+{"uid":"17110419125226284805","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the glass in the recycle bin\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the glass in the recycle bin\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar Q: immediate next step? \u003cPRED\u003eA: put the glass in the recycle bin\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the glass in the recycle bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- throw the coffee cup in the bin 2- throw the crushed paper into the bin Q: immediate next step? \u003cPRED\u003eA: put the glass in the recycle bin\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- throw the coffee cup in the bin 2- throw the crushed paper into the bin Q: next 5 steps? \u003cPRED\u003eA: 1- put the glass in the recycle bin 2- put the packet into the jar 3- put the packet into the jar 4- put the packet into the jar 5- put the packet into the jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the glass in the recycle bin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9050291196283945427.mp4"}
+{"uid":"8884691526702464895","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- throw the coffee cup in the bin 2- throw the crushed paper into the bin Q: next 5 steps? \u003cPRED\u003eA: 1- place the glass in the recycle bin 2- put the packet into the jar 3- put the packet into the jar 4- put the packet into the jar 5- put the packet into the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the glass in the recycle bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the glass in the recycle bin\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar Q: immediate next step? \u003cPRED\u003eA: place the glass in the recycle bin\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the glass in the recycle bin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the glass in the recycle bin\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- throw the coffee cup in the bin 2- throw the crushed paper into the bin Q: immediate next step? \u003cPRED\u003eA: place the glass in the recycle bin\n\u003c/PRED\u003e","video":"15198115477567989190.mp4"}
+{"uid":"17866652834611322410","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the glass in the recycle bin\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the glass in the recycle bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13300853730749322268.mp4"}
+{"uid":"17533952870008142541","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the orange glass out of the stack Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14765669849184204214.mp4"}
+{"uid":"15989732615599994700","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please refill the seaweed bin in the MK. last 20 steps: 1- put the packet into the basket 2- place the packet into the basket 3- arrange the packet 4- put the packet into the basket 5- arrange the packet 6- put the packet into the basket 7- place the packet into the basket 8- put the packet into the basket 9- put the packet into the basket 10- place the packet into the basket 11- put the packet into the basket 12- put the packet into the basket 13- place the packet into the basket 14- place the basket beside the stack of paper bowl Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the basket beside the stack of paper bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the basket beside the stack of paper bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please refill the seaweed bin in the MK Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please refill the seaweed bin in the MK. last 20 steps: 1- put the packet into the basket 2- place the packet into the basket 3- arrange the packet 4- put the packet into the basket 5- arrange the packet 6- put the packet into the basket 7- place the packet into the basket 8- put the packet into the basket 9- put the packet into the basket 10- place the packet into the basket 11- put the packet into the basket 12- put the packet into the basket 13- place the packet into the basket 14- place the basket beside the stack of paper bowl Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"3319054792355648292.mp4"}
+{"uid":"15174878997350958627","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the bottle on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17309625480030691425.mp4"}
+{"uid":"14035611969081531969","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nOpen the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16566816066862479089.mp4"}
+{"uid":"1968439011345388103","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove glass forwards Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11495716920591389442.mp4"}
+{"uid":"8072462303949003872","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput popcorn packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"724077268440373553.mp4"}
+{"uid":"17874609841960196340","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the toffy in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13653577078411151822.mp4"}
+{"uid":"716275329505088093","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar Q: immediate next step? \u003cPRED\u003eA: place the packet in jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the packet in jar\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- throw the coffee cup in the bin 2- throw the crushed paper into the bin 3- place the glass in the recycle bin 4- put the packet into the jar 5- put the packet into the jar 6- put the packet into the jar 7- put the packet into the jar Q: immediate next step? \u003cPRED\u003eA: place the packet in jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the packet in jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the packet in jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- throw the coffee cup in the bin 2- throw the crushed paper into the bin 3- place the glass in the recycle bin 4- put the packet into the jar 5- put the packet into the jar 6- put the packet into the jar 7- put the packet into the jar Q: next 5 steps? \u003cPRED\u003eA: 1- place the packet in jar 2- done\n\u003c/PRED\u003e","video":"1896663593666201064.mp4"}
+{"uid":"2602684785407758572","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put the glass in the recycle bin 2- throw the crushed paper into the bin 3- place the glass in the recycle bin 4- put the packet into the jar 5- put the packet into the jar\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the glass in the recycle bin\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the glass in the recycle bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the glass in the recycle bin\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put the glass in the recycle bin\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the glass in the recycle bin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar Q: immediate next step? \u003cPRED\u003eA: put the glass in the recycle bin\n\u003c/PRED\u003e","video":"11473103857435876034.mp4"}
+{"uid":"5930019996668913054","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please refill the seaweed bin in the MK Q: immediate next step? \u003cPRED\u003eA: place the packet into the basket\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the packet into the basket\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please refill the seaweed bin in the MK. last 20 steps: 1- put the packet into the basket 2- place the packet into the basket 3- arrange the packet 4- put the packet into the basket 5- arrange the packet 6- put the packet into the basket Q: immediate next step? \u003cPRED\u003eA: place the packet into the basket\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please refill the seaweed bin in the MK. last 20 steps: 1- put the packet into the basket 2- place the packet into the basket 3- arrange the packet 4- put the packet into the basket 5- arrange the packet 6- put the packet into the basket Q: next 5 steps? \u003cPRED\u003eA: 1- place the packet into the basket 2- put the packet into the basket 3- put the packet into the basket 4- place the packet into the basket 5- put the packet into the basket\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the packet into the basket\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the packet into the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the packet into the basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11719442991661459109.mp4"}
+{"uid":"2586186831401093037","text":"\u003ctask:success:discrete:True\u003e\nplace the packet in jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- throw the coffee cup in the bin 2- throw the crushed paper into the bin 3- place the glass in the recycle bin 4- put the packet into the jar 5- put the packet into the jar 6- put the packet into the jar 7- place the packet in jar Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- throw the coffee cup in the bin 2- throw the crushed paper into the bin 3- place the glass in the recycle bin 4- put the packet into the jar 5- put the packet into the jar 6- put the packet into the jar 7- place the packet in jar Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the packet in jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"17503150552978827994.mp4"}
+{"uid":"15466755640006858833","text":"\u003ctask:success:discrete:True\u003e\nplace the glass in the recycle bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the glass in the recycle bin\n\u003c/PRED\u003e","video":"14844606013110438441.mp4"}
+{"uid":"15562451916303373988","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput red pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16583614672488428325.mp4"}
+{"uid":"11113029299906378628","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please refill the seaweed bin in the MK. last 20 steps: 1- put the packet into the basket 2- place the packet into the basket 3- arrange the packet 4- put the packet into the basket 5- arrange the packet 6- put the packet into the basket 7- place the packet into the basket 8- put the packet into the basket 9- put the packet into the basket 10- place the packet into the basket 11- put the packet into the basket 12- put the packet into the basket 13- place the packet into the basket Q: next 5 steps? \u003cPRED\u003eA: 1- place the basket beside the stack of paper bowl 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the basket beside the stack of paper bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the basket beside the stack of paper bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please refill the seaweed bin in the MK Q: immediate next step? \u003cPRED\u003eA: place the basket beside the stack of paper bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the basket beside the stack of paper bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the basket beside the stack of paper bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please refill the seaweed bin in the MK. last 20 steps: 1- put the packet into the basket 2- place the packet into the basket 3- arrange the packet 4- put the packet into the basket 5- arrange the packet 6- put the packet into the basket 7- place the packet into the basket 8- put the packet into the basket 9- put the packet into the basket 10- place the packet into the basket 11- put the packet into the basket 12- put the packet into the basket 13- place the packet into the basket Q: immediate next step? \u003cPRED\u003eA: place the basket beside the stack of paper bowl\n\u003c/PRED\u003e","video":"77571969877410747.mp4"}
+{"uid":"170331894282384500","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the black ball in the pool ball rack Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14763962724520856950.mp4"}
+{"uid":"13348002158244472143","text":"\u003ctask:success:discrete:True\u003e\nplace the packet in jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the packet in jar\n\u003c/PRED\u003e","video":"11181536235131362165.mp4"}
+{"uid":"13218162042161597963","text":"\u003ctask:success:discrete:True\u003e\nput the glass in the recycle bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nthrow the coffee cup in the bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: throw the coffee cup in the bin\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the glass in the recycle bin\n\u003c/PRED\u003e","video":"10974056330919654637.mp4"}
+{"uid":"304174248951131719","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the sanitizer bottle on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4322549721276571084.mp4"}
+{"uid":"10618140726612076826","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput red packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17850527143971606224.mp4"}
+{"uid":"8385214957049258847","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please refill the seaweed bin in the MK. last 20 steps: 1- put the packet into the basket 2- place the packet into the basket 3- arrange the packet Q: immediate next step? \u003cPRED\u003eA: put the packet into the basket\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the packet into the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the packet into the basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the packet into the basket\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please refill the seaweed bin in the MK Q: immediate next step? \u003cPRED\u003eA: put the packet into the basket\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the packet into the basket\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please refill the seaweed bin in the MK. last 20 steps: 1- put the packet into the basket 2- place the packet into the basket 3- arrange the packet Q: next 5 steps? \u003cPRED\u003eA: 1- put the packet into the basket 2- arrange the packet 3- put the packet into the basket 4- place the packet into the basket 5- put the packet into the basket\n\u003c/PRED\u003e","video":"16377503883638329055.mp4"}
+{"uid":"15408371963763970820","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the white packet in the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- throw the coffee cup in the bin 2- throw the crushed paper into the bin 3- place the glass in the recycle bin 4- put the packet into the jar 5- put the packet into the jar Q: immediate next step? \u003cPRED\u003eA: put the white packet in the jar\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the white packet in the jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar Q: immediate next step? \u003cPRED\u003eA: put the white packet in the jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the white packet in the jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- throw the coffee cup in the bin 2- throw the crushed paper into the bin 3- place the glass in the recycle bin 4- put the packet into the jar 5- put the packet into the jar Q: next 5 steps? \u003cPRED\u003eA: 1- put the white packet in the jar 2- put the packet into the jar 3- put the packet into the jar 4- done\n\u003c/PRED\u003e","video":"1229875893455529472.mp4"}
+{"uid":"11065341156926057577","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the blue packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1276287000325044333.mp4"}
+{"uid":"16873039820674360436","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the packet in jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the packet in jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the packet in jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar Q: immediate next step? \u003cPRED\u003eA: place the packet in jar\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- throw the coffee cup in the bin 2- throw the crushed paper into the bin 3- place the glass in the recycle bin 4- put the packet into the jar 5- put the packet into the jar 6- put the packet into the jar Q: immediate next step? \u003cPRED\u003eA: place the packet in jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- throw the coffee cup in the bin 2- throw the crushed paper into the bin 3- place the glass in the recycle bin 4- put the packet into the jar 5- put the packet into the jar 6- put the packet into the jar Q: next 5 steps? \u003cPRED\u003eA: 1- place the packet in jar 2- done\n\u003c/PRED\u003e","video":"12019712507834236263.mp4"}
+{"uid":"10707413916356916267","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the white packet on the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3418195925750622332.mp4"}
+{"uid":"10611326582091184139","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nleave the room with cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2399231860801621567.mp4"}
+{"uid":"9755244285768099137","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the orange candies in the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16865033779802686484.mp4"}
+{"uid":"2074425123691453542","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar Q: immediate next step? \u003cPRED\u003eA: place the packet in jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the packet in jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- throw the coffee cup in the bin 2- throw the crushed paper into the bin 3- place the glass in the recycle bin 4- put the packet into the jar 5- put the packet into the jar Q: next 5 steps? \u003cPRED\u003eA: 1- place the packet in jar 2- put the packet into the jar 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the packet in jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- throw the coffee cup in the bin 2- throw the crushed paper into the bin 3- place the glass in the recycle bin 4- put the packet into the jar 5- put the packet into the jar Q: immediate next step? \u003cPRED\u003eA: place the packet in jar\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the packet in jar\n\u003c/PRED\u003e","video":"8552933823111750239.mp4"}
+{"uid":"16115202309562550085","text":"\u003ctask:success:discrete:True\u003e\nput the packet into the basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the packet into the basket\n\u003c/PRED\u003e","video":"15469287402005663554.mp4"}
+{"uid":"13022054304359846732","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please refill the seaweed bin in the MK Q: immediate next step? \u003cPRED\u003eA: place the packet into the basket\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the packet into the basket\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the packet into the basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the packet into the basket\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please refill the seaweed bin in the MK. last 20 steps: 1- put the packet into the basket 2- place the packet into the basket 3- arrange the packet 4- put the packet into the basket 5- arrange the packet 6- put the packet into the basket 7- place the packet into the basket 8- put the packet into the basket 9- put the packet into the basket Q: immediate next step? \u003cPRED\u003eA: place the packet into the basket\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please refill the seaweed bin in the MK. last 20 steps: 1- put the packet into the basket 2- place the packet into the basket 3- arrange the packet 4- put the packet into the basket 5- arrange the packet 6- put the packet into the basket 7- place the packet into the basket 8- put the packet into the basket 9- put the packet into the basket Q: next 5 steps? \u003cPRED\u003eA: 1- place the packet into the basket 2- put the packet into the basket 3- put the packet into the basket 4- place the packet into the basket 5- place the basket beside the stack of paper bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the packet into the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13854378449919973496.mp4"}
+{"uid":"7628997548163955281","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput another candy in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1569012129804793080.mp4"}
+{"uid":"3550711415080340062","text":"\u003ctask:success:discrete:True\u003e\nthrow the cup in the bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: throw the cup in the bin\n\u003c/PRED\u003e","video":"10713982459543648440.mp4"}
+{"uid":"10899049424444382183","text":"\u003ctask:success:discrete:True\u003e\nput the white packet in the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the white packet in the jar\n\u003c/PRED\u003e","video":"398743953987123620.mp4"}
+{"uid":"10860538278659598750","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up the bottle Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16935498956054795981.mp4"}
+{"uid":"14639190954624512698","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- throw the coffee cup in the bin 2- throw the crushed paper into the bin Q: next 5 steps? \u003cPRED\u003eA: 1- put the packet into the jar 2- put the packet into the jar 3- put the packet into the jar 4- put the packet into the jar 5- put the packet into the jar\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the packet into the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the packet into the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the packet into the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- throw the coffee cup in the bin 2- throw the crushed paper into the bin Q: immediate next step? \u003cPRED\u003eA: put the packet into the jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar Q: immediate next step? \u003cPRED\u003eA: put the packet into the jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the packet into the jar\n\u003c/PRED\u003e","video":"7130652120735072587.mp4"}
+{"uid":"17494952415574478560","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the packet into the jar\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- throw the coffee cup in the bin 2- throw the crushed paper into the bin 3- place the glass in the recycle bin 4- put the packet into the jar 5- put the packet into the jar 6- put the packet into the jar 7- put the packet into the jar Q: immediate next step? \u003cPRED\u003eA: put the packet into the jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar Q: immediate next step? \u003cPRED\u003eA: put the packet into the jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- throw the coffee cup in the bin 2- throw the crushed paper into the bin 3- place the glass in the recycle bin 4- put the packet into the jar 5- put the packet into the jar 6- put the packet into the jar 7- put the packet into the jar Q: next 5 steps? \u003cPRED\u003eA: 1- put the packet into the jar 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the packet into the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the packet into the jar\n\u003c/PRED\u003e","video":"6730482731150642281.mp4"}
+{"uid":"1760987959877578609","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar Q: immediate next step? \u003cPRED\u003eA: place the object in the recycle bin\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- throw the coffee cup in the bin Q: next 5 steps? \u003cPRED\u003eA: 1- place the object in the recycle bin 2- place the glass in the recycle bin 3- put the packet into the jar 4- put the packet into the jar 5- put the packet into the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the object in the recycle bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the object in the recycle bin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- throw the coffee cup in the bin Q: immediate next step? \u003cPRED\u003eA: place the object in the recycle bin\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the object in the recycle bin\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the object in the recycle bin\n\u003c/PRED\u003e","video":"9154835614629234241.mp4"}
+{"uid":"6923032653344053230","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop a spoons on a table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5091986204953147659.mp4"}
+{"uid":"9208990312779481291","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the glass on the left stack Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15804309615223012516.mp4"}
+{"uid":"1496503065136192474","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the cream colour packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7790795324727641635.mp4"}
+{"uid":"4871679369406408435","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- throw the coffee cup in the bin 2- throw the crushed paper into the bin 3- place the glass in the recycle bin 4- put the packet into the jar Q: immediate next step? \u003cPRED\u003eA: place the packet in jar\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the packet in jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- throw the coffee cup in the bin 2- throw the crushed paper into the bin 3- place the glass in the recycle bin 4- put the packet into the jar Q: next 5 steps? \u003cPRED\u003eA: 1- place the packet in jar 2- put the packet into the jar 3- put the packet into the jar 4- put the packet into the jar 5- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar Q: immediate next step? \u003cPRED\u003eA: place the packet in jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the packet in jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the packet in jar\n\u003c/PRED\u003e","video":"1122338282342254218.mp4"}
+{"uid":"10826870365589299260","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the packet into the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please refill the seaweed bin in the MK. last 20 steps: 1- put the packet into the basket 2- place the packet into the basket 3- arrange the packet 4- put the packet into the basket 5- arrange the packet 6- put the packet into the basket 7- place the packet into the basket 8- put the packet into the basket 9- put the packet into the basket 10- place the packet into the basket Q: immediate next step? \u003cPRED\u003eA: put the packet into the basket\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the packet into the basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the packet into the basket\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the packet into the basket\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please refill the seaweed bin in the MK Q: immediate next step? \u003cPRED\u003eA: put the packet into the basket\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please refill the seaweed bin in the MK. last 20 steps: 1- put the packet into the basket 2- place the packet into the basket 3- arrange the packet 4- put the packet into the basket 5- arrange the packet 6- put the packet into the basket 7- place the packet into the basket 8- put the packet into the basket 9- put the packet into the basket 10- place the packet into the basket Q: next 5 steps? \u003cPRED\u003eA: 1- put the packet into the basket 2- put the packet into the basket 3- place the packet into the basket 4- place the basket beside the stack of paper bowl 5- done\n\u003c/PRED\u003e","video":"12673587422052744434.mp4"}
+{"uid":"4299622492123791143","text":"\u003ctask:success:discrete:False\u003e\nput the white packet in the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the white packet in the jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the white packet in the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar Q: immediate next step? \u003cPRED\u003eA: put the white packet in the jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- throw the coffee cup in the bin 2- throw the crushed paper into the bin 3- place the glass in the recycle bin Q: next 5 steps? \u003cPRED\u003eA: 1- put the white packet in the jar 2- put the packet into the jar 3- put the packet into the jar 4- put the packet into the jar 5- put the packet into the jar\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- throw the coffee cup in the bin 2- throw the crushed paper into the bin 3- place the glass in the recycle bin Q: immediate next step? \u003cPRED\u003eA: put the white packet in the jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the white packet in the jar\n\u003c/PRED\u003e","video":"15162106896648798242.mp4"}
+{"uid":"10991531328077000650","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the forks in the forks holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12405123006770892746.mp4"}
+{"uid":"9949512123488506421","text":"\u003ctask:success:discrete:True\u003e\nput the packet into the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the packet into the jar\n\u003c/PRED\u003e","video":"17889767981992729649.mp4"}
+{"uid":"3744513387640871464","text":"\u003ctask:success:discrete:True\u003e\nplace the packet into the basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the packet into the basket\n\u003c/PRED\u003e","video":"5831124025924581173.mp4"}
+{"uid":"17158121822494456534","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please refill the seaweed bin in the MK. last 20 steps: 1- put the packet into the basket 2- place the packet into the basket 3- arrange the packet 4- put the packet into the basket 5- arrange the packet 6- put the packet into the basket 7- place the packet into the basket 8- put the packet into the basket 9- put the packet into the basket 10- place the packet into the basket 11- put the packet into the basket Q: next 5 steps? \u003cPRED\u003eA: 1- put the packet into the basket 2- place the packet into the basket 3- place the basket beside the stack of paper bowl 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the packet into the basket\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the packet into the basket\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please refill the seaweed bin in the MK Q: immediate next step? \u003cPRED\u003eA: put the packet into the basket\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please refill the seaweed bin in the MK. last 20 steps: 1- put the packet into the basket 2- place the packet into the basket 3- arrange the packet 4- put the packet into the basket 5- arrange the packet 6- put the packet into the basket 7- place the packet into the basket 8- put the packet into the basket 9- put the packet into the basket 10- place the packet into the basket 11- put the packet into the basket Q: immediate next step? \u003cPRED\u003eA: put the packet into the basket\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the packet into the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3350975673952789095.mp4"}
+{"uid":"11841853111395918262","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nhang the bag to the hanger Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6871755768738855254.mp4"}
+{"uid":"17041970585288885220","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- throw the coffee cup in the bin 2- throw the crushed paper into the bin 3- place the glass in the recycle bin 4- put the packet into the jar Q: immediate next step? \u003cPRED\u003eA: put the white packet in the jar\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the white packet in the jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar Q: immediate next step? \u003cPRED\u003eA: put the white packet in the jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the white packet in the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the white packet in the jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- throw the coffee cup in the bin 2- throw the crushed paper into the bin 3- place the glass in the recycle bin 4- put the packet into the jar Q: next 5 steps? \u003cPRED\u003eA: 1- put the white packet in the jar 2- put the packet into the jar 3- put the packet into the jar 4- put the packet into the jar 5- done\n\u003c/PRED\u003e","video":"4375413153092432984.mp4"}
+{"uid":"7377101344280477564","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: throw the crushed paper into the bin\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nthrow the crushed paper into the bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10415377476115465784.mp4"}
+{"uid":"12814996877659548680","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the packet into the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the packet into the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17206393382486637477.mp4"}
+{"uid":"507561822155536537","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place the  glass in the recycle bin 2- place the glass in the recycle bin 3- put the packet into the jar 4- put the packet into the jar 5- put the packet into the jar\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place the  glass in the recycle bin\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the  glass in the recycle bin\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar Q: immediate next step? \u003cPRED\u003eA: place the  glass in the recycle bin\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the  glass in the recycle bin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the  glass in the recycle bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the  glass in the recycle bin\n\u003c/PRED\u003e","video":"16324208240353414489.mp4"}
+{"uid":"14223213913943561914","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the packet into the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the packet into the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8136757103988727615.mp4"}
+{"uid":"13522305151423485451","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the white packet in the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the white packet in the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10774807922718848658.mp4"}
+{"uid":"5057742036842080294","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the packet into the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the packet into the jar\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- throw the coffee cup in the bin 2- throw the crushed paper into the bin 3- place the glass in the recycle bin 4- put the packet into the jar Q: immediate next step? \u003cPRED\u003eA: put the packet into the jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the packet into the jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar Q: immediate next step? \u003cPRED\u003eA: put the packet into the jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- throw the coffee cup in the bin 2- throw the crushed paper into the bin 3- place the glass in the recycle bin 4- put the packet into the jar Q: next 5 steps? \u003cPRED\u003eA: 1- put the packet into the jar 2- put the packet into the jar 3- put the packet into the jar 4- put the packet into the jar 5- done\n\u003c/PRED\u003e","video":"10178278717318986658.mp4"}
+{"uid":"17724454965095621232","text":"\u003ctask:success:discrete:True\u003e\nput the packet into the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the packet into the jar\n\u003c/PRED\u003e","video":"7219210055609113848.mp4"}
+{"uid":"8973967944628982068","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace packet on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2639893420061548985.mp4"}
+{"uid":"14850323568792560544","text":"\u003ctask:success:discrete:True\u003e\nput the packet into the basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the packet into the basket\n\u003c/PRED\u003e","video":"9035498132546430024.mp4"}
+{"uid":"14927225838090308838","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- throw the coffee cup in the bin 2- throw the crushed paper into the bin 3- place the glass in the recycle bin 4- put the packet into the jar 5- put the packet into the jar 6- put the packet into the jar 7- put the packet into the jar 8- place the packet in jar Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the packet in jar\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the packet in jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- throw the coffee cup in the bin 2- throw the crushed paper into the bin 3- place the glass in the recycle bin 4- put the packet into the jar 5- put the packet into the jar 6- put the packet into the jar 7- put the packet into the jar 8- place the packet in jar Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"6484652427265651630.mp4"}
+{"uid":"3423406486535630711","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4078536792067856462.mp4"}
+{"uid":"12061707317605745242","text":"\u003ctask:success:discrete:True\u003e\nput the packet into the basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the packet into the basket\n\u003c/PRED\u003e","video":"13059692303788566640.mp4"}
+{"uid":"3761219023490727004","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick the green rolling bin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8631399235574306958.mp4"}
+{"uid":"12621076527802110918","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the packet into the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the packet into the basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please refill the seaweed bin in the MK Q: immediate next step? \u003cPRED\u003eA: place the packet into the basket\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the packet into the basket\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please refill the seaweed bin in the MK. last 20 steps: 1- put the packet into the basket Q: immediate next step? \u003cPRED\u003eA: place the packet into the basket\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please refill the seaweed bin in the MK. last 20 steps: 1- put the packet into the basket Q: next 5 steps? \u003cPRED\u003eA: 1- place the packet into the basket 2- arrange the packet 3- put the packet into the basket 4- arrange the packet 5- put the packet into the basket\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the packet into the basket\n\u003c/PRED\u003e","video":"16619658703529442901.mp4"}
+{"uid":"15512438333536155027","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the ball on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17736816753298818651.mp4"}
+{"uid":"4680507680168369463","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the  glass in the recycle bin\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the  glass in the recycle bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8742837610376107253.mp4"}
+{"uid":"8985811804737604218","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput pear in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16099124189985620158.mp4"}
+{"uid":"2304321147427445043","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the packet into the basket\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please refill the seaweed bin in the MK. last 20 steps: 1- put the packet into the basket 2- place the packet into the basket 3- arrange the packet 4- put the packet into the basket 5- arrange the packet 6- put the packet into the basket 7- place the packet into the basket Q: next 5 steps? \u003cPRED\u003eA: 1- put the packet into the basket 2- put the packet into the basket 3- place the packet into the basket 4- put the packet into the basket 5- put the packet into the basket\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the packet into the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the packet into the basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please refill the seaweed bin in the MK Q: immediate next step? \u003cPRED\u003eA: put the packet into the basket\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the packet into the basket\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please refill the seaweed bin in the MK. last 20 steps: 1- put the packet into the basket 2- place the packet into the basket 3- arrange the packet 4- put the packet into the basket 5- arrange the packet 6- put the packet into the basket 7- place the packet into the basket Q: immediate next step? \u003cPRED\u003eA: put the packet into the basket\n\u003c/PRED\u003e","video":"1748433563877862198.mp4"}
+{"uid":"8320050958601559122","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove the glass right side Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8389681072846988742.mp4"}
+{"uid":"14173246308053897737","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the packet into the basket\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please refill the seaweed bin in the MK. last 20 steps: 1- put the packet into the basket 2- place the packet into the basket Q: immediate next step? \u003cPRED\u003eA: arrange the packet\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please refill the seaweed bin in the MK. last 20 steps: 1- put the packet into the basket 2- place the packet into the basket Q: next 5 steps? \u003cPRED\u003eA: 1- arrange the packet 2- put the packet into the basket 3- arrange the packet 4- put the packet into the basket 5- place the packet into the basket\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please refill the seaweed bin in the MK Q: immediate next step? \u003cPRED\u003eA: arrange the packet\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: arrange the packet\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the packet into the basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\narrange the packet Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\narrange the packet Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: arrange the packet\n\u003c/PRED\u003e","video":"6016635366134475380.mp4"}
+{"uid":"14955173931704339561","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the packet into the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please refill the seaweed bin in the MK Q: immediate next step? \u003cPRED\u003eA: put the packet into the basket\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please refill the seaweed bin in the MK. last 20 steps: 1- put the packet into the basket 2- place the packet into the basket 3- arrange the packet 4- put the packet into the basket 5- arrange the packet 6- put the packet into the basket 7- place the packet into the basket 8- put the packet into the basket Q: immediate next step? \u003cPRED\u003eA: put the packet into the basket\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the packet into the basket\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the packet into the basket\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please refill the seaweed bin in the MK. last 20 steps: 1- put the packet into the basket 2- place the packet into the basket 3- arrange the packet 4- put the packet into the basket 5- arrange the packet 6- put the packet into the basket 7- place the packet into the basket 8- put the packet into the basket Q: next 5 steps? \u003cPRED\u003eA: 1- put the packet into the basket 2- place the packet into the basket 3- put the packet into the basket 4- put the packet into the basket 5- place the packet into the basket\n\u003c/PRED\u003e","video":"16553577192368198512.mp4"}
+{"uid":"9685554743027987208","text":"\u003ctask:success:discrete:False\u003e\nthrow the cup in the bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar Q: immediate next step? \u003cPRED\u003eA: throw the cup in the bin\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: throw the cup in the bin\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- throw the coffee cup in the bin 2- throw the crushed paper into the bin Q: next 5 steps? \u003cPRED\u003eA: 1- throw the cup in the bin 2- put the packet into the jar 3- put the packet into the jar 4- put the packet into the jar 5- put the packet into the jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: throw the cup in the bin\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nthrow the cup in the bin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- throw the coffee cup in the bin 2- throw the crushed paper into the bin Q: immediate next step? \u003cPRED\u003eA: throw the cup in the bin\n\u003c/PRED\u003e","video":"2538496148623758106.mp4"}
+{"uid":"9342614961304598844","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack the galsses Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15258889968921121061.mp4"}
+{"uid":"6766942289946369122","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the object in the recycle bin\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the object in the recycle bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9992182047992696726.mp4"}
+{"uid":"8284462858364374482","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the packet into the basket\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the packet into the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the packet into the basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please refill the seaweed bin in the MK Q: immediate next step? \u003cPRED\u003eA: place the packet into the basket\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the packet into the basket\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please refill the seaweed bin in the MK. last 20 steps: 1- put the packet into the basket 2- place the packet into the basket 3- arrange the packet 4- put the packet into the basket 5- arrange the packet 6- put the packet into the basket 7- place the packet into the basket 8- put the packet into the basket 9- put the packet into the basket 10- place the packet into the basket 11- put the packet into the basket 12- put the packet into the basket Q: immediate next step? \u003cPRED\u003eA: place the packet into the basket\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please refill the seaweed bin in the MK. last 20 steps: 1- put the packet into the basket 2- place the packet into the basket 3- arrange the packet 4- put the packet into the basket 5- arrange the packet 6- put the packet into the basket 7- place the packet into the basket 8- put the packet into the basket 9- put the packet into the basket 10- place the packet into the basket 11- put the packet into the basket 12- put the packet into the basket Q: next 5 steps? \u003cPRED\u003eA: 1- place the packet into the basket 2- place the basket beside the stack of paper bowl 3- done\n\u003c/PRED\u003e","video":"10843610043634526476.mp4"}
+{"uid":"15550025557762037352","text":"\u003ctask:success:discrete:True\u003e\nput the packet into the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- throw the coffee cup in the bin 2- throw the crushed paper into the bin 3- place the glass in the recycle bin 4- put the packet into the jar 5- put the packet into the jar 6- put the packet into the jar 7- put the packet into the jar 8- put the packet into the jar Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the packet into the jar\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- throw the coffee cup in the bin 2- throw the crushed paper into the bin 3- place the glass in the recycle bin 4- put the packet into the jar 5- put the packet into the jar 6- put the packet into the jar 7- put the packet into the jar 8- put the packet into the jar Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"14507582624807599915.mp4"}
+{"uid":"4795727422403132016","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the blue packet in the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the blue packet in the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10039485660142158668.mp4"}
+{"uid":"5255902432895350989","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the white packet in the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the white packet in the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2581790698847020908.mp4"}
+{"uid":"6069018025218840096","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- throw the coffee cup in the bin 2- throw the crushed paper into the bin 3- place the glass in the recycle bin 4- put the packet into the jar 5- put the packet into the jar 6- put the packet into the jar 7- put the packet into the jar Q: immediate next step? \u003cPRED\u003eA: put the white packet in the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the white packet in the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the white packet in the jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the white packet in the jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- throw the coffee cup in the bin 2- throw the crushed paper into the bin 3- place the glass in the recycle bin 4- put the packet into the jar 5- put the packet into the jar 6- put the packet into the jar 7- put the packet into the jar Q: next 5 steps? \u003cPRED\u003eA: 1- put the white packet in the jar 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the white packet in the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar Q: immediate next step? \u003cPRED\u003eA: put the white packet in the jar\n\u003c/PRED\u003e","video":"9885471438594492050.mp4"}
+{"uid":"2794457544270737303","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop candy into organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13071556778198819691.mp4"}
+{"uid":"7640929068802031213","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the paper in the recycle bin\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the paper in the recycle bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5597269730023939410.mp4"}
+{"uid":"4379192722656550395","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please refill the seaweed bin in the MK Q: immediate next step? \u003cPRED\u003eA: arrange the packet\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\narrange the packet Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please refill the seaweed bin in the MK. last 20 steps: 1- put the packet into the basket 2- place the packet into the basket 3- arrange the packet 4- put the packet into the basket Q: immediate next step? \u003cPRED\u003eA: arrange the packet\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please refill the seaweed bin in the MK. last 20 steps: 1- put the packet into the basket 2- place the packet into the basket 3- arrange the packet 4- put the packet into the basket Q: next 5 steps? \u003cPRED\u003eA: 1- arrange the packet 2- put the packet into the basket 3- place the packet into the basket 4- put the packet into the basket 5- put the packet into the basket\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\narrange the packet Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: arrange the packet\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: arrange the packet\n\u003c/PRED\u003e","video":"4910281213646716136.mp4"}
+{"uid":"6533627487568444207","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: throw the crushed paper into the bin\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar Q: immediate next step? \u003cPRED\u003eA: throw the crushed paper into the bin\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nthrow the crushed paper into the bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nthrow the crushed paper into the bin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- throw the coffee cup in the bin Q: next 5 steps? \u003cPRED\u003eA: 1- throw the crushed paper into the bin 2- place the glass in the recycle bin 3- put the packet into the jar 4- put the packet into the jar 5- put the packet into the jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: throw the crushed paper into the bin\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- throw the coffee cup in the bin Q: immediate next step? \u003cPRED\u003eA: throw the crushed paper into the bin\n\u003c/PRED\u003e","video":"1007354370942154132.mp4"}
+{"uid":"13043913089816072520","text":"\u003ctask:success:discrete:False\u003e\nput the packet into the basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the packet into the basket\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please refill the seaweed bin in the MK Q: immediate next step? \u003cPRED\u003eA: put the packet into the basket\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please refill the seaweed bin in the MK. last 20 steps: 1- put the packet into the basket 2- place the packet into the basket 3- arrange the packet 4- put the packet into the basket 5- arrange the packet Q: next 5 steps? \u003cPRED\u003eA: 1- put the packet into the basket 2- place the packet into the basket 3- put the packet into the basket 4- put the packet into the basket 5- place the packet into the basket\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the packet into the basket\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the packet into the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please refill the seaweed bin in the MK. last 20 steps: 1- put the packet into the basket 2- place the packet into the basket 3- arrange the packet 4- put the packet into the basket 5- arrange the packet Q: immediate next step? \u003cPRED\u003eA: put the packet into the basket\n\u003c/PRED\u003e","video":"15957667550048177518.mp4"}
+{"uid":"10226698521180160654","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the paper in the recycle bin\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar Q: immediate next step? \u003cPRED\u003eA: put the paper in the recycle bin\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the paper in the recycle bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the paper in the recycle bin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- throw the coffee cup in the bin Q: immediate next step? \u003cPRED\u003eA: put the paper in the recycle bin\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- throw the coffee cup in the bin Q: next 5 steps? \u003cPRED\u003eA: 1- put the paper in the recycle bin 2- place the glass in the recycle bin 3- put the packet into the jar 4- put the packet into the jar 5- put the packet into the jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the paper in the recycle bin\n\u003c/PRED\u003e","video":"7762531908945563240.mp4"}
+{"uid":"7474345940780082280","text":"\u003ctask:success:discrete:True\u003e\nThrough the box in the trash Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Through the box in the trash\n\u003c/PRED\u003e","video":"10576781012849954232.mp4"}
+{"uid":"6002743585094616315","text":"\u003ctask:success:discrete:True\u003e\ndrop a paper dust in dustbin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop a paper dust in dustbin\n\u003c/PRED\u003e","video":"7361770375763490547.mp4"}
+{"uid":"6403540781197574425","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the box on the trash bin\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the box on the trash bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8117565159624366301.mp4"}
+{"uid":"10748369025767645853","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop a paper container in  dustbin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away all the trash at the end of the table into the green compost bin. last 20 steps: 1- pick up a paper container 2- Pick up the box 3- place a paper container in dustbin 4- pick up the paper dust 5- Go to the trash can 6- Throw the paper in the trash 7- pick up a paper container Q: next 5 steps? \u003cPRED\u003eA: 1- drop a paper container in  dustbin 2- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop a paper container in  dustbin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop a paper container in  dustbin\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please throw away all the trash at the end of the table into the green compost bin Q: immediate next step? \u003cPRED\u003eA: drop a paper container in  dustbin\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop a paper container in  dustbin\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away all the trash at the end of the table into the green compost bin. last 20 steps: 1- pick up a paper container 2- Pick up the box 3- place a paper container in dustbin 4- pick up the paper dust 5- Go to the trash can 6- Throw the paper in the trash 7- pick up a paper container Q: immediate next step? \u003cPRED\u003eA: drop a paper container in  dustbin\n\u003c/PRED\u003e","video":"12921279707694152126.mp4"}
+{"uid":"6133548999867790565","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Throw the paper in the trash\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away all the trash at the end of the table into the green compost bin. last 20 steps: 1- pick up a paper container 2- Pick up the box 3- place a paper container in dustbin 4- pick up the paper dust 5- Go to the trash can Q: next 5 steps? \u003cPRED\u003eA: 1- Throw the paper in the trash 2- pick up a paper container 3- Go to the trash 4- Throw the trash in the trash can 5- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please throw away all the trash at the end of the table into the green compost bin Q: immediate next step? \u003cPRED\u003eA: Throw the paper in the trash\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nThrow the paper in the trash Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away all the trash at the end of the table into the green compost bin. last 20 steps: 1- pick up a paper container 2- Pick up the box 3- place a paper container in dustbin 4- pick up the paper dust 5- Go to the trash can Q: immediate next step? \u003cPRED\u003eA: Throw the paper in the trash\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Throw the paper in the trash\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nThrow the paper in the trash Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18089611527593075932.mp4"}
+{"uid":"9777043892398732638","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the crush paper in the trash bin\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the crush paper in the trash bin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please throw away all the trash at the end of the table into the green compost bin Q: immediate next step? \u003cPRED\u003eA: put the crush paper in the trash bin\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away all the trash at the end of the table into the green compost bin. last 20 steps: 1- pick up a paper container 2- Pick up the box 3- place a paper container in dustbin 4- pick up the paper dust Q: next 5 steps? \u003cPRED\u003eA: 1- put the crush paper in the trash bin 2- pick up a paper container 3- Go to the trash 4- Throw the trash in the trash can 5- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the crush paper in the trash bin\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the crush paper in the trash bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away all the trash at the end of the table into the green compost bin. last 20 steps: 1- pick up a paper container 2- Pick up the box 3- place a paper container in dustbin 4- pick up the paper dust Q: immediate next step? \u003cPRED\u003eA: put the crush paper in the trash bin\n\u003c/PRED\u003e","video":"15786717913653916462.mp4"}
+{"uid":"15037093373344376304","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: grab the box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ngrab the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6642513354342470162.mp4"}
+{"uid":"8674992980923584394","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place pen in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace pen in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4014471517942385312.mp4"}
+{"uid":"558955337938240721","text":"\u003ctask:success:discrete:True\u003e\npick up the paper dust Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up the paper dust\n\u003c/PRED\u003e","video":"9148060031915364997.mp4"}
+{"uid":"5192087108843299327","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npush the chair to the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8009392519860743469.mp4"}
+{"uid":"1563751210876962513","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop the black cable into the carton box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5168454567720466059.mp4"}
+{"uid":"4590483316661838056","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Pick up the box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPick up the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1316431789157127216.mp4"}
+{"uid":"11066316134134924414","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away all the trash at the end of the table into the green compost bin. last 20 steps: 1- pick up a paper container 2- Pick up the box 3- place a paper container in dustbin 4- pick up the paper dust 5- Go to the trash can 6- Throw the paper in the trash Q: immediate next step? \u003cPRED\u003eA: Pick up the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please throw away all the trash at the end of the table into the green compost bin Q: immediate next step? \u003cPRED\u003eA: Pick up the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away all the trash at the end of the table into the green compost bin. last 20 steps: 1- pick up a paper container 2- Pick up the box 3- place a paper container in dustbin 4- pick up the paper dust 5- Go to the trash can 6- Throw the paper in the trash Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the box 2- Throw the trash in the trash can 3- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7192749809536867369.mp4"}
+{"uid":"12258283156130180667","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the pen into the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15757117499715126996.mp4"}
+{"uid":"8800905700384493373","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove your arm close to the sticky note Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11275058036869756287.mp4"}
+{"uid":"18197259184237370099","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput pistachio in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11021061264988506009.mp4"}
+{"uid":"1556326099420049692","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up a paper container\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away all the trash at the end of the table into the green compost bin. last 20 steps: 1- pick up a paper container 2- Pick up the box 3- place a paper container in dustbin 4- pick up the paper dust 5- Go to the trash can 6- Throw the paper in the trash Q: next 5 steps? \u003cPRED\u003eA: 1- pick up a paper container 2- Throw the trash in the trash can 3- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up a paper container Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up a paper container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up a paper container\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away all the trash at the end of the table into the green compost bin. last 20 steps: 1- pick up a paper container 2- Pick up the box 3- place a paper container in dustbin 4- pick up the paper dust 5- Go to the trash can 6- Throw the paper in the trash Q: immediate next step? \u003cPRED\u003eA: pick up a paper container\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please throw away all the trash at the end of the table into the green compost bin Q: immediate next step? \u003cPRED\u003eA: pick up a paper container\n\u003c/PRED\u003e","video":"5000446589974239205.mp4"}
+{"uid":"18254832815894958639","text":"\u003ctask:success:discrete:True\u003e\nGo to the trash can Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Go to the trash can\n\u003c/PRED\u003e","video":"10635948448352965429.mp4"}
+{"uid":"14078216428586959061","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away all the trash at the end of the table into the green compost bin. last 20 steps: 1- pick up a paper container Q: immediate next step? \u003cPRED\u003eA: grab the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please throw away all the trash at the end of the table into the green compost bin Q: immediate next step? \u003cPRED\u003eA: grab the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ngrab the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: grab the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away all the trash at the end of the table into the green compost bin. last 20 steps: 1- pick up a paper container Q: next 5 steps? \u003cPRED\u003eA: 1- grab the box 2- place a paper container in dustbin 3- pick up the paper dust 4- Go to the trash can 5- Throw the paper in the trash\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: grab the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ngrab the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6574071751875379306.mp4"}
+{"uid":"4443830986367720280","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npull the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4078872899272764070.mp4"}
+{"uid":"2913414962799377410","text":"\u003ctask:success:discrete:True\u003e\npick up a paper container Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up a paper container\n\u003c/PRED\u003e","video":"2936586990411483670.mp4"}
+{"uid":"11294348963973261922","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pistachio in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4188279804346981204.mp4"}
+{"uid":"8220400141051317293","text":"\u003ctask:success:discrete:False\u003e\nGo to the trash Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away all the trash at the end of the table into the green compost bin. last 20 steps: 1- pick up a paper container 2- Pick up the box 3- place a paper container in dustbin 4- pick up the paper dust 5- Go to the trash can 6- Throw the paper in the trash Q: immediate next step? \u003cPRED\u003eA: Go to the trash\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please throw away all the trash at the end of the table into the green compost bin Q: immediate next step? \u003cPRED\u003eA: Go to the trash\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away all the trash at the end of the table into the green compost bin. last 20 steps: 1- pick up a paper container 2- Pick up the box 3- place a paper container in dustbin 4- pick up the paper dust 5- Go to the trash can 6- Throw the paper in the trash Q: next 5 steps? \u003cPRED\u003eA: 1- Go to the trash 2- Throw the trash in the trash can 3- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Go to the trash\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Go to the trash\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nGo to the trash Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3131827505906934149.mp4"}
+{"uid":"1911004598154883978","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pistachio in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14379214318937453570.mp4"}
+{"uid":"830589956107825427","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nhang the cap to the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2449847978534076408.mp4"}
+{"uid":"10849905338522168310","text":"\u003ctask:success:discrete:True\u003e\ngrab the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: grab the box\n\u003c/PRED\u003e","video":"8248443655705239926.mp4"}
+{"uid":"11302909537288222798","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2733528969561518076.mp4"}
+{"uid":"7016903451021396431","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Throw the trash in the trash can\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please throw away all the trash at the end of the table into the green compost bin Q: immediate next step? \u003cPRED\u003eA: Throw the trash in the trash can\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nGo to the trash Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nThrow the trash in the trash can Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away all the trash at the end of the table into the green compost bin. last 20 steps: 1- pick up a paper container 2- Pick up the box 3- place a paper container in dustbin 4- pick up the paper dust 5- Go to the trash can 6- Throw the paper in the trash 7- pick up a paper container 8- Go to the trash Q: immediate next step? \u003cPRED\u003eA: Throw the trash in the trash can\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Throw the trash in the trash can\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Go to the trash\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nThrow the trash in the trash can Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away all the trash at the end of the table into the green compost bin. last 20 steps: 1- pick up a paper container 2- Pick up the box 3- place a paper container in dustbin 4- pick up the paper dust 5- Go to the trash can 6- Throw the paper in the trash 7- pick up a paper container 8- Go to the trash Q: next 5 steps? \u003cPRED\u003eA: 1- Throw the trash in the trash can 2- done\n\u003c/PRED\u003e","video":"9522604085206858257.mp4"}
+{"uid":"9168519658932777832","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the bowl in the center of the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2093222012549950714.mp4"}
+{"uid":"6828470572341072201","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the banana in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14779907640465161065.mp4"}
+{"uid":"17804895727351611916","text":"\u003ctask:success:discrete:False\u003e\nplace pen in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place pen in the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place pen in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you put back the pen and get me a stapler from printer room and put it in my desk . last 20 steps: 1- pick up pen Q: immediate next step? \u003cPRED\u003eA: place pen in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you put back the pen and get me a stapler from printer room and put it in my desk . last 20 steps: 1- pick up pen Q: next 5 steps? \u003cPRED\u003eA: 1- place pen in the holder 2- pick up stapler 3- place stapler on the table 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you put back the pen and get me a stapler from printer room and put it in my desk Q: immediate next step? \u003cPRED\u003eA: place pen in the holder\n\u003c/PRED\u003e","video":"15712257269277247029.mp4"}
+{"uid":"14305402976238337255","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the pistachio into the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"165662006392660262.mp4"}
+{"uid":"16408362349477685352","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place stapler on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace stapler on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place stapler on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you put back the pen and get me a stapler from printer room and put it in my desk . last 20 steps: 1- pick up pen 2- place pen in the holder 3- pick up stapler Q: next 5 steps? \u003cPRED\u003eA: 1- place stapler on the table 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace stapler on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you put back the pen and get me a stapler from printer room and put it in my desk . last 20 steps: 1- pick up pen 2- place pen in the holder 3- pick up stapler Q: immediate next step? \u003cPRED\u003eA: place stapler on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you put back the pen and get me a stapler from printer room and put it in my desk Q: immediate next step? \u003cPRED\u003eA: place stapler on the table\n\u003c/PRED\u003e","video":"17600288202326548191.mp4"}
+{"uid":"14188231627351739361","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15977055720600708280.mp4"}
+{"uid":"2958701676662746998","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the candy into the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13162069684830943689.mp4"}
+{"uid":"7405852315075112591","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the paper dust\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the paper dust Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the paper dust\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away all the trash at the end of the table into the green compost bin. last 20 steps: 1- pick up a paper container 2- Pick up the box 3- place a paper container in dustbin Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the paper dust 2- Go to the trash can 3- Throw the paper in the trash 4- pick up a paper container 5- Go to the trash\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away all the trash at the end of the table into the green compost bin. last 20 steps: 1- pick up a paper container 2- Pick up the box 3- place a paper container in dustbin Q: immediate next step? \u003cPRED\u003eA: pick up the paper dust\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the paper dust Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please throw away all the trash at the end of the table into the green compost bin Q: immediate next step? \u003cPRED\u003eA: pick up the paper dust\n\u003c/PRED\u003e","video":"14338840171752403009.mp4"}
+{"uid":"12141327791553325137","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away all the trash at the end of the table into the green compost bin. last 20 steps: 1- pick up a paper container 2- Pick up the box 3- place a paper container in dustbin 4- pick up the paper dust 5- Go to the trash can 6- Throw the paper in the trash 7- pick up a paper container 8- drop a paper container in  dustbin Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please throw away all the trash at the end of the table into the green compost bin Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away all the trash at the end of the table into the green compost bin. last 20 steps: 1- pick up a paper container 2- Pick up the box 3- place a paper container in dustbin 4- pick up the paper dust 5- Go to the trash can 6- Throw the paper in the trash 7- pick up a paper container 8- drop a paper container in  dustbin Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop a paper container in  dustbin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop a paper container in  dustbin\n\u003c/PRED\u003e","video":"18005949338654669104.mp4"}
+{"uid":"11064150345605590933","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the candy in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2808460818578247039.mp4"}
+{"uid":"12214652361718985152","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\ngrab the crush paper Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please throw away all the trash at the end of the table into the green compost bin Q: immediate next step? \u003cPRED\u003eA: grab the crush paper\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away all the trash at the end of the table into the green compost bin. last 20 steps: 1- pick up a paper container 2- Pick up the box 3- place a paper container in dustbin Q: next 5 steps? \u003cPRED\u003eA: 1- grab the crush paper 2- Go to the trash can 3- Throw the paper in the trash 4- pick up a paper container 5- Go to the trash\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away all the trash at the end of the table into the green compost bin. last 20 steps: 1- pick up a paper container 2- Pick up the box 3- place a paper container in dustbin Q: immediate next step? \u003cPRED\u003eA: grab the crush paper\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ngrab the crush paper Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: grab the crush paper\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: grab the crush paper\n\u003c/PRED\u003e","video":"17289955915654501817.mp4"}
+{"uid":"8282238270133746767","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: grab the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ngrab the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: grab the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away all the trash at the end of the table into the green compost bin. last 20 steps: 1- pick up a paper container 2- Pick up the box 3- place a paper container in dustbin 4- pick up the paper dust 5- Go to the trash can 6- Throw the paper in the trash Q: immediate next step? \u003cPRED\u003eA: grab the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please throw away all the trash at the end of the table into the green compost bin Q: immediate next step? \u003cPRED\u003eA: grab the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away all the trash at the end of the table into the green compost bin. last 20 steps: 1- pick up a paper container 2- Pick up the box 3- place a paper container in dustbin 4- pick up the paper dust 5- Go to the trash can 6- Throw the paper in the trash Q: next 5 steps? \u003cPRED\u003eA: 1- grab the box 2- Throw the trash in the trash can 3- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ngrab the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12167053163283277362.mp4"}
+{"uid":"17405320229039727210","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the brown packet in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6165849635844879675.mp4"}
+{"uid":"11672607319872005619","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up a paper container\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick up a paper container Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15224110313395248293.mp4"}
+{"uid":"8541044368416873817","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput candy in the first row of organiser Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5873029249992188046.mp4"}
+{"uid":"6199642578751757808","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the crush paper in the trash bin\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the crush paper in the trash bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14327560860852307381.mp4"}
+{"uid":"9348940495042110041","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the alphabet tile in the pouch Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1054229272310664369.mp4"}
+{"uid":"16335109705673125863","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away all the trash at the end of the table into the green compost bin. last 20 steps: 1- pick up a paper container 2- Pick up the box 3- place a paper container in dustbin 4- pick up the paper dust 5- Go to the trash can 6- Throw the paper in the trash 7- pick up a paper container 8- Go to the trash 9- Throw the trash in the trash can Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please throw away all the trash at the end of the table into the green compost bin Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nThrow the trash in the trash can Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away all the trash at the end of the table into the green compost bin. last 20 steps: 1- pick up a paper container 2- Pick up the box 3- place a paper container in dustbin 4- pick up the paper dust 5- Go to the trash can 6- Throw the paper in the trash 7- pick up a paper container 8- Go to the trash 9- Throw the trash in the trash can Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Throw the trash in the trash can\n\u003c/PRED\u003e","video":"10902367104772288661.mp4"}
+{"uid":"3691733433137258759","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: can you put back the pen and get me a stapler from printer room and put it in my desk Q: immediate next step? \u003cPRED\u003eA: pick up stapler\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up stapler Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up stapler\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up stapler Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you put back the pen and get me a stapler from printer room and put it in my desk . last 20 steps: 1- pick up pen 2- place pen in the holder Q: immediate next step? \u003cPRED\u003eA: pick up stapler\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up stapler\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you put back the pen and get me a stapler from printer room and put it in my desk . last 20 steps: 1- pick up pen 2- place pen in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- pick up stapler 2- place stapler on the table 3- done\n\u003c/PRED\u003e","video":"8007586957575888009.mp4"}
+{"uid":"1543031531811582891","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove the third left chair forward Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7209618342758555729.mp4"}
+{"uid":"4805792191254284514","text":"\u003ctask:success:discrete:False\u003e\nput the box in the trash bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please throw away all the trash at the end of the table into the green compost bin Q: immediate next step? \u003cPRED\u003eA: put the box in the trash bin\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the box in the trash bin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away all the trash at the end of the table into the green compost bin. last 20 steps: 1- pick up a paper container 2- Pick up the box 3- place a paper container in dustbin 4- pick up the paper dust 5- Go to the trash can 6- Throw the paper in the trash 7- pick up a paper container 8- Go to the trash Q: next 5 steps? \u003cPRED\u003eA: 1- put the box in the trash bin 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away all the trash at the end of the table into the green compost bin. last 20 steps: 1- pick up a paper container 2- Pick up the box 3- place a paper container in dustbin 4- pick up the paper dust 5- Go to the trash can 6- Throw the paper in the trash 7- pick up a paper container 8- Go to the trash Q: immediate next step? \u003cPRED\u003eA: put the box in the trash bin\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the box in the trash bin\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the box in the trash bin\n\u003c/PRED\u003e","video":"4519951966180791554.mp4"}
+{"uid":"17157466993244146143","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away all the trash at the end of the table into the green compost bin. last 20 steps: 1- pick up a paper container 2- Pick up the box Q: next 5 steps? \u003cPRED\u003eA: 1- place a paper container in dustbin 2- pick up the paper dust 3- Go to the trash can 4- Throw the paper in the trash 5- pick up a paper container\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place a paper container in dustbin\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace a paper container in dustbin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away all the trash at the end of the table into the green compost bin. last 20 steps: 1- pick up a paper container 2- Pick up the box Q: immediate next step? \u003cPRED\u003eA: place a paper container in dustbin\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace a paper container in dustbin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please throw away all the trash at the end of the table into the green compost bin Q: immediate next step? \u003cPRED\u003eA: place a paper container in dustbin\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place a paper container in dustbin\n\u003c/PRED\u003e","video":"8498101672479889242.mp4"}
+{"uid":"834435167153493246","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the blue pen in the black holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9690720729579403884.mp4"}
+{"uid":"12031577491766430818","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place a paper container in dustbin\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace a paper container in dustbin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4501001652163713636.mp4"}
+{"uid":"16534100210017382731","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nGo to the trash can Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away all the trash at the end of the table into the green compost bin. last 20 steps: 1- pick up a paper container 2- Pick up the box 3- place a paper container in dustbin 4- pick up the paper dust Q: immediate next step? \u003cPRED\u003eA: Go to the trash can\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nGo to the trash can Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Go to the trash can\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away all the trash at the end of the table into the green compost bin. last 20 steps: 1- pick up a paper container 2- Pick up the box 3- place a paper container in dustbin 4- pick up the paper dust Q: next 5 steps? \u003cPRED\u003eA: 1- Go to the trash can 2- Throw the paper in the trash 3- pick up a paper container 4- Go to the trash 5- Throw the trash in the trash can\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please throw away all the trash at the end of the table into the green compost bin Q: immediate next step? \u003cPRED\u003eA: Go to the trash can\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Go to the trash can\n\u003c/PRED\u003e","video":"17783688377191823298.mp4"}
+{"uid":"3278933909745893387","text":"\u003ctask:success:discrete:True\u003e\nplace stapler on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you put back the pen and get me a stapler from printer room and put it in my desk Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place stapler on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you put back the pen and get me a stapler from printer room and put it in my desk . last 20 steps: 1- pick up pen 2- place pen in the holder 3- pick up stapler 4- place stapler on the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you put back the pen and get me a stapler from printer room and put it in my desk . last 20 steps: 1- pick up pen 2- place pen in the holder 3- pick up stapler 4- place stapler on the table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"10986589145211026576.mp4"}
+{"uid":"8146373076914231389","text":"\u003ctask:success:discrete:True\u003e\ngrab the crush paper Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: grab the crush paper\n\u003c/PRED\u003e","video":"9530845200751725647.mp4"}
+{"uid":"10362748962557428214","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the packet in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1287985836449867571.mp4"}
+{"uid":"9822489766783588480","text":"\u003ctask:success:discrete:False\u003e\nput the box on the trash bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the box on the trash bin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please throw away all the trash at the end of the table into the green compost bin Q: immediate next step? \u003cPRED\u003eA: put the box on the trash bin\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away all the trash at the end of the table into the green compost bin. last 20 steps: 1- pick up a paper container 2- Pick up the box Q: immediate next step? \u003cPRED\u003eA: put the box on the trash bin\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the box on the trash bin\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the box on the trash bin\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away all the trash at the end of the table into the green compost bin. last 20 steps: 1- pick up a paper container 2- Pick up the box Q: next 5 steps? \u003cPRED\u003eA: 1- put the box on the trash bin 2- pick up the paper dust 3- Go to the trash can 4- Throw the paper in the trash 5- pick up a paper container\n\u003c/PRED\u003e","video":"18257872049336487393.mp4"}
+{"uid":"13415242007330580177","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please throw away all the trash at the end of the table into the green compost bin Q: immediate next step? \u003cPRED\u003eA: Pick up the trash\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away all the trash at the end of the table into the green compost bin. last 20 steps: 1- pick up a paper container 2- Pick up the box 3- place a paper container in dustbin Q: immediate next step? \u003cPRED\u003eA: Pick up the trash\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the trash Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the trash Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away all the trash at the end of the table into the green compost bin. last 20 steps: 1- pick up a paper container 2- Pick up the box 3- place a paper container in dustbin Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the trash 2- Go to the trash can 3- Throw the paper in the trash 4- pick up a paper container 5- Go to the trash\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the trash\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the trash\n\u003c/PRED\u003e","video":"13706124011992638918.mp4"}
+{"uid":"16415835122586009959","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the packet in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15980313947880413043.mp4"}
+{"uid":"3160502632393519398","text":"\u003ctask:success:discrete:True\u003e\nPick up the trash Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Pick up the trash\n\u003c/PRED\u003e","video":"6998556570960709255.mp4"}
+{"uid":"11110490287365892047","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away all the trash at the end of the table into the green compost bin. last 20 steps: 1- pick up a paper container 2- Pick up the box 3- place a paper container in dustbin 4- pick up the paper dust Q: next 5 steps? \u003cPRED\u003eA: 1- drop a paper dust in dustbin 2- pick up a paper container 3- Go to the trash 4- Throw the trash in the trash can 5- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop a paper dust in dustbin\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away all the trash at the end of the table into the green compost bin. last 20 steps: 1- pick up a paper container 2- Pick up the box 3- place a paper container in dustbin 4- pick up the paper dust Q: immediate next step? \u003cPRED\u003eA: drop a paper dust in dustbin\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please throw away all the trash at the end of the table into the green compost bin Q: immediate next step? \u003cPRED\u003eA: drop a paper dust in dustbin\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop a paper dust in dustbin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop a paper dust in dustbin\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop a paper dust in dustbin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7956281887716255221.mp4"}
+{"uid":"3963186897917515020","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please throw away all the trash at the end of the table into the green compost bin Q: immediate next step? \u003cPRED\u003eA: Pick up the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away all the trash at the end of the table into the green compost bin. last 20 steps: 1- pick up a paper container Q: immediate next step? \u003cPRED\u003eA: Pick up the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away all the trash at the end of the table into the green compost bin. last 20 steps: 1- pick up a paper container Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the box 2- place a paper container in dustbin 3- pick up the paper dust 4- Go to the trash can 5- Throw the paper in the trash\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the box\n\u003c/PRED\u003e","video":"8775864634978601095.mp4"}
+{"uid":"10388094741598603494","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away all the trash at the end of the table into the green compost bin. last 20 steps: 1- pick up a paper container 2- Pick up the box Q: next 5 steps? \u003cPRED\u003eA: 1- Through the box in the trash 2- pick up the paper dust 3- Go to the trash can 4- Throw the paper in the trash 5- pick up a paper container\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Through the box in the trash\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Through the box in the trash\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nThrough the box in the trash Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please throw away all the trash at the end of the table into the green compost bin Q: immediate next step? \u003cPRED\u003eA: Through the box in the trash\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away all the trash at the end of the table into the green compost bin. last 20 steps: 1- pick up a paper container 2- Pick up the box Q: immediate next step? \u003cPRED\u003eA: Through the box in the trash\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nThrough the box in the trash Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1867882041948002360.mp4"}
+{"uid":"7715995972703992922","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput packet in tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8002312381689647757.mp4"}
+{"uid":"18275026093733614069","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: add milk in the coffee\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please make me an iced coffee with half and half. last 20 steps: 1- pick up a glass from the stack of glass 2- put glass on the ice machine 3- press the blue button 4- pick glass from the ice machine 5- put glass on the coffee machine 6- select the coffee 7- take out the blue milk carton from fridge 8- put milk carton on the table 9- pick up the glass from coffee machine 10- add syrup in the glass 11- put glass on the table 12- take out a mixing stick 13- mix the coffee with stick 14- open the milk carton Q: next 5 steps? \u003cPRED\u003eA: 1- add milk in the coffee 2- put milk carton on the table 3- close the milk carton 4- open the fridge 5- put milk carton in the fridge\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: add milk in the coffee\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please make me an iced coffee with half and half Q: immediate next step? \u003cPRED\u003eA: add milk in the coffee\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please make me an iced coffee with half and half. last 20 steps: 1- pick up a glass from the stack of glass 2- put glass on the ice machine 3- press the blue button 4- pick glass from the ice machine 5- put glass on the coffee machine 6- select the coffee 7- take out the blue milk carton from fridge 8- put milk carton on the table 9- pick up the glass from coffee machine 10- add syrup in the glass 11- put glass on the table 12- take out a mixing stick 13- mix the coffee with stick 14- open the milk carton Q: immediate next step? \u003cPRED\u003eA: add milk in the coffee\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nadd milk in the coffee Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nadd milk in the coffee Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"39326245670251091.mp4"}
+{"uid":"13957604724047377870","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the yellow candy in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the yellow candy in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please flip the bowl, then pick up the candy from the floor and put them in the bowl. Q: immediate next step? \u003cPRED\u003eA: Put the yellow candy in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the yellow candy in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please flip the bowl, then pick up the candy from the floor and put them in the bowl. last 20 steps: 1- Put the bowl up right 2- Put the green candy in the bowl 3- Put the yellow candy in the bowl 4- Put the yellow candy in the bowl 5- Put the pink candy in the bowl 6- Put the pink candy in the bowl 7- Put the pink candy in the bowl 8- Put the green candy in the bowl 9- Put the green candy in the bowl 10- Put the yellow candy in the bowl 11- Put the yellow candy in the bowl 12- Put the yellow candy in the bowl 13- Put the yellow candy in the bowl Q: immediate next step? \u003cPRED\u003eA: Put the yellow candy in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please flip the bowl, then pick up the candy from the floor and put them in the bowl. last 20 steps: 1- Put the bowl up right 2- Put the green candy in the bowl 3- Put the yellow candy in the bowl 4- Put the yellow candy in the bowl 5- Put the pink candy in the bowl 6- Put the pink candy in the bowl 7- Put the pink candy in the bowl 8- Put the green candy in the bowl 9- Put the green candy in the bowl 10- Put the yellow candy in the bowl 11- Put the yellow candy in the bowl 12- Put the yellow candy in the bowl 13- Put the yellow candy in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put the yellow candy in the bowl 2- Put the green candy in the bowl 3- Put the pink candy in the bowl 4- Put the green candy in the bowl 5- done\n\u003c/PRED\u003e","video":"10283797250086445334.mp4"}
+{"uid":"13391424778294868319","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the fork in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18155218722138845388.mp4"}
+{"uid":"8359815814115432630","text":"\u003ctask:success:discrete:True\u003e\nmix the coffee with stick Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: mix the coffee with stick\n\u003c/PRED\u003e","video":"5516925190781741451.mp4"}
+{"uid":"271972602729452519","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please make me an iced coffee with half and half. last 20 steps: 1- pick up a glass from the stack of glass 2- put glass on the ice machine 3- press the blue button 4- pick glass from the ice machine 5- put glass on the coffee machine 6- select the coffee 7- take out the blue milk carton from fridge 8- put milk carton on the table 9- pick up the glass from coffee machine 10- add syrup in the glass 11- put glass on the table 12- take out a mixing stick 13- mix the coffee with stick 14- open the milk carton 15- add milk in the coffee 16- put milk carton on the table 17- close the milk carton Q: next 5 steps? \u003cPRED\u003eA: 1- open the fridge 2- put milk carton in the fridge 3- close the fridge 4- mix the coffee 5- throw mixing stick in the dustbin\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open the fridge\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nopen the fridge Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please make me an iced coffee with half and half Q: immediate next step? \u003cPRED\u003eA: open the fridge\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nopen the fridge Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open the fridge\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please make me an iced coffee with half and half. last 20 steps: 1- pick up a glass from the stack of glass 2- put glass on the ice machine 3- press the blue button 4- pick glass from the ice machine 5- put glass on the coffee machine 6- select the coffee 7- take out the blue milk carton from fridge 8- put milk carton on the table 9- pick up the glass from coffee machine 10- add syrup in the glass 11- put glass on the table 12- take out a mixing stick 13- mix the coffee with stick 14- open the milk carton 15- add milk in the coffee 16- put milk carton on the table 17- close the milk carton Q: immediate next step? \u003cPRED\u003eA: open the fridge\n\u003c/PRED\u003e","video":"17094759145288947737.mp4"}
+{"uid":"17775233288501701146","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the yellow candy in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please flip the bowl, then pick up the candy from the floor and put them in the bowl. Q: immediate next step? \u003cPRED\u003eA: Put the yellow candy in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the yellow candy in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please flip the bowl, then pick up the candy from the floor and put them in the bowl. last 20 steps: 1- Put the bowl up right 2- Put the green candy in the bowl 3- Put the yellow candy in the bowl 4- Put the yellow candy in the bowl 5- Put the pink candy in the bowl 6- Put the pink candy in the bowl 7- Put the pink candy in the bowl 8- Put the green candy in the bowl 9- Put the green candy in the bowl 10- Put the yellow candy in the bowl 11- Put the yellow candy in the bowl 12- Put the yellow candy in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put the yellow candy in the bowl 2- Put the yellow candy in the bowl 3- Put the green candy in the bowl 4- Put the pink candy in the bowl 5- Put the green candy in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the yellow candy in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please flip the bowl, then pick up the candy from the floor and put them in the bowl. last 20 steps: 1- Put the bowl up right 2- Put the green candy in the bowl 3- Put the yellow candy in the bowl 4- Put the yellow candy in the bowl 5- Put the pink candy in the bowl 6- Put the pink candy in the bowl 7- Put the pink candy in the bowl 8- Put the green candy in the bowl 9- Put the green candy in the bowl 10- Put the yellow candy in the bowl 11- Put the yellow candy in the bowl 12- Put the yellow candy in the bowl Q: immediate next step? \u003cPRED\u003eA: Put the yellow candy in the bowl\n\u003c/PRED\u003e","video":"9334570025524188211.mp4"}
+{"uid":"18317235125858548000","text":"\u003ctask:success:discrete:True\u003e\ntake out the blue milk carton from fridge Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: take out the blue milk carton from fridge\n\u003c/PRED\u003e","video":"11558526987683128285.mp4"}
+{"uid":"8779462773659296564","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the white packet in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"366624880999386437.mp4"}
+{"uid":"1844014521716238054","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the brown packet into tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9390885803255708112.mp4"}
+{"uid":"16895037910986824226","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nlift a white pebble from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11561428517720468913.mp4"}
+{"uid":"15416274965864479717","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the sticky notes in the glass tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11406879103737825989.mp4"}
+{"uid":"9059352056779577142","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Please flip the bowl, then pick up the candy from the floor and put them in the bowl. Q: immediate next step? \u003cPRED\u003eA: Put the green candy in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please flip the bowl, then pick up the candy from the floor and put them in the bowl. last 20 steps: 1- Put the bowl up right 2- Put the green candy in the bowl 3- Put the yellow candy in the bowl 4- Put the yellow candy in the bowl 5- Put the pink candy in the bowl 6- Put the pink candy in the bowl 7- Put the pink candy in the bowl Q: immediate next step? \u003cPRED\u003eA: Put the green candy in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please flip the bowl, then pick up the candy from the floor and put them in the bowl. last 20 steps: 1- Put the bowl up right 2- Put the green candy in the bowl 3- Put the yellow candy in the bowl 4- Put the yellow candy in the bowl 5- Put the pink candy in the bowl 6- Put the pink candy in the bowl 7- Put the pink candy in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put the green candy in the bowl 2- Put the green candy in the bowl 3- Put the yellow candy in the bowl 4- Put the yellow candy in the bowl 5- Put the yellow candy in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the green candy in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the green candy in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the green candy in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the green candy in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8969613997261086748.mp4"}
+{"uid":"5815443623291157771","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nopen the milk carton Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nopen the milk carton Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please make me an iced coffee with half and half. last 20 steps: 1- pick up a glass from the stack of glass 2- put glass on the ice machine 3- press the blue button 4- pick glass from the ice machine 5- put glass on the coffee machine 6- select the coffee 7- take out the blue milk carton from fridge 8- put milk carton on the table 9- pick up the glass from coffee machine 10- add syrup in the glass 11- put glass on the table 12- take out a mixing stick 13- mix the coffee with stick Q: next 5 steps? \u003cPRED\u003eA: 1- open the milk carton 2- add milk in the coffee 3- put milk carton on the table 4- close the milk carton 5- open the fridge\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please make me an iced coffee with half and half. last 20 steps: 1- pick up a glass from the stack of glass 2- put glass on the ice machine 3- press the blue button 4- pick glass from the ice machine 5- put glass on the coffee machine 6- select the coffee 7- take out the blue milk carton from fridge 8- put milk carton on the table 9- pick up the glass from coffee machine 10- add syrup in the glass 11- put glass on the table 12- take out a mixing stick 13- mix the coffee with stick Q: immediate next step? \u003cPRED\u003eA: open the milk carton\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open the milk carton\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please make me an iced coffee with half and half Q: immediate next step? \u003cPRED\u003eA: open the milk carton\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open the milk carton\n\u003c/PRED\u003e","video":"12253470510778749219.mp4"}
+{"uid":"7615807629477288897","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nexit the room Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5002361205813439013.mp4"}
+{"uid":"3006914713563809624","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack the packet Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13614372093611709020.mp4"}
+{"uid":"3457700066075396195","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please make me an iced coffee with half and half. last 20 steps: 1- pick glass from the ice machine 2- put glass on the coffee machine 3- select the coffee 4- take out the blue milk carton from fridge 5- put milk carton on the table 6- pick up the glass from coffee machine 7- add syrup in the glass 8- put glass on the table 9- take out a mixing stick 10- mix the coffee with stick 11- open the milk carton 12- add milk in the coffee 13- put milk carton on the table 14- close the milk carton 15- open the fridge 16- put milk carton in the fridge 17- close the fridge 18- mix the coffee 19- throw mixing stick in the dustbin 20- take out a lid from the stack of lid Q: next 5 steps? \u003cPRED\u003eA: 1- cover coffee glass with the lid 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ncover coffee glass with the lid Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ncover coffee glass with the lid Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: cover coffee glass with the lid\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please make me an iced coffee with half and half. last 20 steps: 1- pick glass from the ice machine 2- put glass on the coffee machine 3- select the coffee 4- take out the blue milk carton from fridge 5- put milk carton on the table 6- pick up the glass from coffee machine 7- add syrup in the glass 8- put glass on the table 9- take out a mixing stick 10- mix the coffee with stick 11- open the milk carton 12- add milk in the coffee 13- put milk carton on the table 14- close the milk carton 15- open the fridge 16- put milk carton in the fridge 17- close the fridge 18- mix the coffee 19- throw mixing stick in the dustbin 20- take out a lid from the stack of lid Q: immediate next step? \u003cPRED\u003eA: cover coffee glass with the lid\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please make me an iced coffee with half and half Q: immediate next step? \u003cPRED\u003eA: cover coffee glass with the lid\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: cover coffee glass with the lid\n\u003c/PRED\u003e","video":"2910783077730010944.mp4"}
+{"uid":"13769336329491217241","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: open the milk carton\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nopen the milk carton Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1517442789278470973.mp4"}
+{"uid":"4562077032025486447","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the marker in the glass tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6998613693063414583.mp4"}
+{"uid":"15574981586202720334","text":"\u003ctask:success:discrete:True\u003e\nput glass on the ice machine Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put glass on the ice machine\n\u003c/PRED\u003e","video":"16856234237319955616.mp4"}
+{"uid":"9372284010018309168","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2225965593861797218.mp4"}
+{"uid":"12294408033331452800","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: select the coffee\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nselect the coffee Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14956294561941105373.mp4"}
+{"uid":"11486320902927606683","text":"\u003ctask:success:discrete:False\u003e\npress the blue button Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please make me an iced coffee with half and half. last 20 steps: 1- pick up a glass from the stack of glass 2- put glass on the ice machine Q: immediate next step? \u003cPRED\u003eA: press the blue button\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npress the blue button Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please make me an iced coffee with half and half Q: immediate next step? \u003cPRED\u003eA: press the blue button\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please make me an iced coffee with half and half. last 20 steps: 1- pick up a glass from the stack of glass 2- put glass on the ice machine Q: next 5 steps? \u003cPRED\u003eA: 1- press the blue button 2- pick glass from the ice machine 3- put glass on the coffee machine 4- select the coffee 5- take out the blue milk carton from fridge\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: press the blue button\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: press the blue button\n\u003c/PRED\u003e","video":"13914532862027977537.mp4"}
+{"uid":"8223556643432084932","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop orange candy into glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1809888124382821943.mp4"}
+{"uid":"1698768328770628066","text":"\u003ctask:success:discrete:False\u003e\nPut the green candy in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the green candy in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the green candy in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please flip the bowl, then pick up the candy from the floor and put them in the bowl. last 20 steps: 1- Put the bowl up right Q: next 5 steps? \u003cPRED\u003eA: 1- Put the green candy in the bowl 2- Put the yellow candy in the bowl 3- Put the yellow candy in the bowl 4- Put the pink candy in the bowl 5- Put the pink candy in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please flip the bowl, then pick up the candy from the floor and put them in the bowl. Q: immediate next step? \u003cPRED\u003eA: Put the green candy in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the green candy in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please flip the bowl, then pick up the candy from the floor and put them in the bowl. last 20 steps: 1- Put the bowl up right Q: immediate next step? \u003cPRED\u003eA: Put the green candy in the bowl\n\u003c/PRED\u003e","video":"17857867470754146834.mp4"}
+{"uid":"5769544904971838296","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput tissue box in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9570750251358121367.mp4"}
+{"uid":"1401580551008540107","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please flip the bowl, then pick up the candy from the floor and put them in the bowl. last 20 steps: 1- Put the bowl up right 2- Put the green candy in the bowl 3- Put the yellow candy in the bowl 4- Put the yellow candy in the bowl 5- Put the pink candy in the bowl 6- Put the pink candy in the bowl 7- Put the pink candy in the bowl 8- Put the green candy in the bowl 9- Put the green candy in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put the yellow candy in the bowl 2- Put the yellow candy in the bowl 3- Put the yellow candy in the bowl 4- Put the yellow candy in the bowl 5- Put the yellow candy in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please flip the bowl, then pick up the candy from the floor and put them in the bowl. Q: immediate next step? \u003cPRED\u003eA: Put the yellow candy in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the yellow candy in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please flip the bowl, then pick up the candy from the floor and put them in the bowl. last 20 steps: 1- Put the bowl up right 2- Put the green candy in the bowl 3- Put the yellow candy in the bowl 4- Put the yellow candy in the bowl 5- Put the pink candy in the bowl 6- Put the pink candy in the bowl 7- Put the pink candy in the bowl 8- Put the green candy in the bowl 9- Put the green candy in the bowl Q: immediate next step? \u003cPRED\u003eA: Put the yellow candy in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the yellow candy in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the yellow candy in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the yellow candy in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7621335818378589626.mp4"}
+{"uid":"15783108466377379487","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove the sticky notes forward Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18223113781739389644.mp4"}
+{"uid":"14731064204078751930","text":"\u003ctask:success:discrete:False\u003e\nput glass on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please make me an iced coffee with half and half. last 20 steps: 1- pick up a glass from the stack of glass 2- put glass on the ice machine 3- press the blue button 4- pick glass from the ice machine 5- put glass on the coffee machine 6- select the coffee 7- take out the blue milk carton from fridge 8- put milk carton on the table 9- pick up the glass from coffee machine 10- add syrup in the glass Q: immediate next step? \u003cPRED\u003eA: put glass on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put glass on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please make me an iced coffee with half and half Q: immediate next step? \u003cPRED\u003eA: put glass on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput glass on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put glass on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please make me an iced coffee with half and half. last 20 steps: 1- pick up a glass from the stack of glass 2- put glass on the ice machine 3- press the blue button 4- pick glass from the ice machine 5- put glass on the coffee machine 6- select the coffee 7- take out the blue milk carton from fridge 8- put milk carton on the table 9- pick up the glass from coffee machine 10- add syrup in the glass Q: next 5 steps? \u003cPRED\u003eA: 1- put glass on the table 2- take out a mixing stick 3- mix the coffee with stick 4- open the milk carton 5- add milk in the coffee\n\u003c/PRED\u003e","video":"11939372740531012303.mp4"}
+{"uid":"1934645957047012561","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put milk carton in the fridge\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put milk carton in the fridge\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput milk carton in the fridge Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please make me an iced coffee with half and half Q: immediate next step? \u003cPRED\u003eA: put milk carton in the fridge\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please make me an iced coffee with half and half. last 20 steps: 1- pick up a glass from the stack of glass 2- put glass on the ice machine 3- press the blue button 4- pick glass from the ice machine 5- put glass on the coffee machine 6- select the coffee 7- take out the blue milk carton from fridge 8- put milk carton on the table 9- pick up the glass from coffee machine 10- add syrup in the glass 11- put glass on the table 12- take out a mixing stick 13- mix the coffee with stick 14- open the milk carton 15- add milk in the coffee 16- put milk carton on the table 17- close the milk carton 18- open the fridge Q: immediate next step? \u003cPRED\u003eA: put milk carton in the fridge\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput milk carton in the fridge Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please make me an iced coffee with half and half. last 20 steps: 1- pick up a glass from the stack of glass 2- put glass on the ice machine 3- press the blue button 4- pick glass from the ice machine 5- put glass on the coffee machine 6- select the coffee 7- take out the blue milk carton from fridge 8- put milk carton on the table 9- pick up the glass from coffee machine 10- add syrup in the glass 11- put glass on the table 12- take out a mixing stick 13- mix the coffee with stick 14- open the milk carton 15- add milk in the coffee 16- put milk carton on the table 17- close the milk carton 18- open the fridge Q: next 5 steps? \u003cPRED\u003eA: 1- put milk carton in the fridge 2- close the fridge 3- mix the coffee 4- throw mixing stick in the dustbin 5- take out a lid from the stack of lid\n\u003c/PRED\u003e","video":"11291120270749353901.mp4"}
+{"uid":"3396055733595385894","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove to the top right black pebble Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14555997089588876826.mp4"}
+{"uid":"11754000034354532658","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the pink candy in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please flip the bowl, then pick up the candy from the floor and put them in the bowl. last 20 steps: 1- Put the bowl up right 2- Put the green candy in the bowl 3- Put the yellow candy in the bowl 4- Put the yellow candy in the bowl 5- Put the pink candy in the bowl 6- Put the pink candy in the bowl 7- Put the pink candy in the bowl 8- Put the green candy in the bowl 9- Put the green candy in the bowl 10- Put the yellow candy in the bowl 11- Put the yellow candy in the bowl 12- Put the yellow candy in the bowl 13- Put the yellow candy in the bowl 14- Put the yellow candy in the bowl 15- Put the green candy in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put the pink candy in the bowl 2- Put the green candy in the bowl 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the pink candy in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the pink candy in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please flip the bowl, then pick up the candy from the floor and put them in the bowl. Q: immediate next step? \u003cPRED\u003eA: Put the pink candy in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please flip the bowl, then pick up the candy from the floor and put them in the bowl. last 20 steps: 1- Put the bowl up right 2- Put the green candy in the bowl 3- Put the yellow candy in the bowl 4- Put the yellow candy in the bowl 5- Put the pink candy in the bowl 6- Put the pink candy in the bowl 7- Put the pink candy in the bowl 8- Put the green candy in the bowl 9- Put the green candy in the bowl 10- Put the yellow candy in the bowl 11- Put the yellow candy in the bowl 12- Put the yellow candy in the bowl 13- Put the yellow candy in the bowl 14- Put the yellow candy in the bowl 15- Put the green candy in the bowl Q: immediate next step? \u003cPRED\u003eA: Put the pink candy in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the pink candy in the bowl\n\u003c/PRED\u003e","video":"15172655217633913615.mp4"}
+{"uid":"17189794794814682388","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please make me an iced coffee with half and half. last 20 steps: 1- put glass on the coffee machine 2- select the coffee 3- take out the blue milk carton from fridge 4- put milk carton on the table 5- pick up the glass from coffee machine 6- add syrup in the glass 7- put glass on the table 8- take out a mixing stick 9- mix the coffee with stick 10- open the milk carton 11- add milk in the coffee 12- put milk carton on the table 13- close the milk carton 14- open the fridge 15- put milk carton in the fridge 16- close the fridge 17- mix the coffee 18- throw mixing stick in the dustbin 19- take out a lid from the stack of lid 20- cover coffee glass with the lid Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: cover coffee glass with the lid\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ncover coffee glass with the lid Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please make me an iced coffee with half and half Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please make me an iced coffee with half and half. last 20 steps: 1- put glass on the coffee machine 2- select the coffee 3- take out the blue milk carton from fridge 4- put milk carton on the table 5- pick up the glass from coffee machine 6- add syrup in the glass 7- put glass on the table 8- take out a mixing stick 9- mix the coffee with stick 10- open the milk carton 11- add milk in the coffee 12- put milk carton on the table 13- close the milk carton 14- open the fridge 15- put milk carton in the fridge 16- close the fridge 17- mix the coffee 18- throw mixing stick in the dustbin 19- take out a lid from the stack of lid 20- cover coffee glass with the lid Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"16928863438825726515.mp4"}
+{"uid":"6137918502058496751","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nkeep glass on flat surface Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2053011801553784198.mp4"}
+{"uid":"10180980707326863267","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please make me an iced coffee with half and half Q: immediate next step? \u003cPRED\u003eA: pick up a glass from the stack of glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up a glass from the stack of glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up a glass from the stack of glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please make me an iced coffee with half and half. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: pick up a glass from the stack of glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up a glass from the stack of glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please make me an iced coffee with half and half. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- pick up a glass from the stack of glass 2- put glass on the ice machine 3- press the blue button 4- pick glass from the ice machine 5- put glass on the coffee machine\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up a glass from the stack of glass\n\u003c/PRED\u003e","video":"15029387328405200857.mp4"}
+{"uid":"14956341315271728662","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPour the gray objects in the bottom left glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14397149234116182001.mp4"}
+{"uid":"18146860591557497173","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the glass in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15706862368233070558.mp4"}
+{"uid":"4864213570443095248","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nmix the coffee with stick Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please make me an iced coffee with half and half. last 20 steps: 1- pick up a glass from the stack of glass 2- put glass on the ice machine 3- press the blue button 4- pick glass from the ice machine 5- put glass on the coffee machine 6- select the coffee 7- take out the blue milk carton from fridge 8- put milk carton on the table 9- pick up the glass from coffee machine 10- add syrup in the glass 11- put glass on the table 12- take out a mixing stick Q: next 5 steps? \u003cPRED\u003eA: 1- mix the coffee with stick 2- open the milk carton 3- add milk in the coffee 4- put milk carton on the table 5- close the milk carton\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: mix the coffee with stick\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmix the coffee with stick Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please make me an iced coffee with half and half. last 20 steps: 1- pick up a glass from the stack of glass 2- put glass on the ice machine 3- press the blue button 4- pick glass from the ice machine 5- put glass on the coffee machine 6- select the coffee 7- take out the blue milk carton from fridge 8- put milk carton on the table 9- pick up the glass from coffee machine 10- add syrup in the glass 11- put glass on the table 12- take out a mixing stick Q: immediate next step? \u003cPRED\u003eA: mix the coffee with stick\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: mix the coffee with stick\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please make me an iced coffee with half and half Q: immediate next step? \u003cPRED\u003eA: mix the coffee with stick\n\u003c/PRED\u003e","video":"9163472396261207401.mp4"}
+{"uid":"3338808768657726319","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the red bull can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10857876377311148736.mp4"}
+{"uid":"17878925930855845707","text":"\u003ctask:success:discrete:False\u003e\ntake out a lid from the stack of lid Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: take out a lid from the stack of lid\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please make me an iced coffee with half and half Q: immediate next step? \u003cPRED\u003eA: take out a lid from the stack of lid\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please make me an iced coffee with half and half. last 20 steps: 1- press the blue button 2- pick glass from the ice machine 3- put glass on the coffee machine 4- select the coffee 5- take out the blue milk carton from fridge 6- put milk carton on the table 7- pick up the glass from coffee machine 8- add syrup in the glass 9- put glass on the table 10- take out a mixing stick 11- mix the coffee with stick 12- open the milk carton 13- add milk in the coffee 14- put milk carton on the table 15- close the milk carton 16- open the fridge 17- put milk carton in the fridge 18- close the fridge 19- mix the coffee 20- throw mixing stick in the dustbin Q: immediate next step? \u003cPRED\u003eA: take out a lid from the stack of lid\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please make me an iced coffee with half and half. last 20 steps: 1- press the blue button 2- pick glass from the ice machine 3- put glass on the coffee machine 4- select the coffee 5- take out the blue milk carton from fridge 6- put milk carton on the table 7- pick up the glass from coffee machine 8- add syrup in the glass 9- put glass on the table 10- take out a mixing stick 11- mix the coffee with stick 12- open the milk carton 13- add milk in the coffee 14- put milk carton on the table 15- close the milk carton 16- open the fridge 17- put milk carton in the fridge 18- close the fridge 19- mix the coffee 20- throw mixing stick in the dustbin Q: next 5 steps? \u003cPRED\u003eA: 1- take out a lid from the stack of lid 2- cover coffee glass with the lid 3- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: take out a lid from the stack of lid\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ntake out a lid from the stack of lid Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15418871023198673364.mp4"}
+{"uid":"14668926235804747840","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: add syrup in the glass\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nadd syrup in the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4375393465940357574.mp4"}
+{"uid":"10502394418121690913","text":"\u003ctask:success:discrete:True\u003e\nmix the coffee Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: mix the coffee\n\u003c/PRED\u003e","video":"5330920063276916457.mp4"}
+{"uid":"7044909201661267815","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please make me an iced coffee with half and half. last 20 steps: 1- pick up a glass from the stack of glass 2- put glass on the ice machine 3- press the blue button 4- pick glass from the ice machine 5- put glass on the coffee machine 6- select the coffee 7- take out the blue milk carton from fridge 8- put milk carton on the table 9- pick up the glass from coffee machine 10- add syrup in the glass 11- put glass on the table 12- take out a mixing stick 13- mix the coffee with stick 14- open the milk carton 15- add milk in the coffee 16- put milk carton on the table 17- close the milk carton 18- open the fridge 19- put milk carton in the fridge Q: immediate next step? \u003cPRED\u003eA: close the fridge\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nclose the fridge Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: close the fridge\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please make me an iced coffee with half and half Q: immediate next step? \u003cPRED\u003eA: close the fridge\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: close the fridge\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please make me an iced coffee with half and half. last 20 steps: 1- pick up a glass from the stack of glass 2- put glass on the ice machine 3- press the blue button 4- pick glass from the ice machine 5- put glass on the coffee machine 6- select the coffee 7- take out the blue milk carton from fridge 8- put milk carton on the table 9- pick up the glass from coffee machine 10- add syrup in the glass 11- put glass on the table 12- take out a mixing stick 13- mix the coffee with stick 14- open the milk carton 15- add milk in the coffee 16- put milk carton on the table 17- close the milk carton 18- open the fridge 19- put milk carton in the fridge Q: next 5 steps? \u003cPRED\u003eA: 1- close the fridge 2- mix the coffee 3- throw mixing stick in the dustbin 4- take out a lid from the stack of lid 5- cover coffee glass with the lid\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nclose the fridge Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17853386273233790900.mp4"}
+{"uid":"7516966333741802771","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: throw mixing stick in the dustbin\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nthrow mixing stick in the dustbin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nthrow mixing stick in the dustbin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please make me an iced coffee with half and half. last 20 steps: 1- put glass on the ice machine 2- press the blue button 3- pick glass from the ice machine 4- put glass on the coffee machine 5- select the coffee 6- take out the blue milk carton from fridge 7- put milk carton on the table 8- pick up the glass from coffee machine 9- add syrup in the glass 10- put glass on the table 11- take out a mixing stick 12- mix the coffee with stick 13- open the milk carton 14- add milk in the coffee 15- put milk carton on the table 16- close the milk carton 17- open the fridge 18- put milk carton in the fridge 19- close the fridge 20- mix the coffee Q: next 5 steps? \u003cPRED\u003eA: 1- throw mixing stick in the dustbin 2- take out a lid from the stack of lid 3- cover coffee glass with the lid 4- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: throw mixing stick in the dustbin\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please make me an iced coffee with half and half Q: immediate next step? \u003cPRED\u003eA: throw mixing stick in the dustbin\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please make me an iced coffee with half and half. last 20 steps: 1- put glass on the ice machine 2- press the blue button 3- pick glass from the ice machine 4- put glass on the coffee machine 5- select the coffee 6- take out the blue milk carton from fridge 7- put milk carton on the table 8- pick up the glass from coffee machine 9- add syrup in the glass 10- put glass on the table 11- take out a mixing stick 12- mix the coffee with stick 13- open the milk carton 14- add milk in the coffee 15- put milk carton on the table 16- close the milk carton 17- open the fridge 18- put milk carton in the fridge 19- close the fridge 20- mix the coffee Q: immediate next step? \u003cPRED\u003eA: throw mixing stick in the dustbin\n\u003c/PRED\u003e","video":"16758411218892239251.mp4"}
+{"uid":"5080364542805746077","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please flip the bowl, then pick up the candy from the floor and put them in the bowl. last 20 steps: 1- Put the bowl up right 2- Put the green candy in the bowl 3- Put the yellow candy in the bowl 4- Put the yellow candy in the bowl 5- Put the pink candy in the bowl Q: immediate next step? \u003cPRED\u003eA: Put the pink candy in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the pink candy in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please flip the bowl, then pick up the candy from the floor and put them in the bowl. last 20 steps: 1- Put the bowl up right 2- Put the green candy in the bowl 3- Put the yellow candy in the bowl 4- Put the yellow candy in the bowl 5- Put the pink candy in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put the pink candy in the bowl 2- Put the pink candy in the bowl 3- Put the green candy in the bowl 4- Put the green candy in the bowl 5- Put the yellow candy in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please flip the bowl, then pick up the candy from the floor and put them in the bowl. Q: immediate next step? \u003cPRED\u003eA: Put the pink candy in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the pink candy in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the pink candy in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12326669613648008398.mp4"}
+{"uid":"81691255856079462","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the packet in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2996213424549105494.mp4"}
+{"uid":"1523889183426330642","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack the cups on top of existing stack Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8876917004877876680.mp4"}
+{"uid":"12201998575252666003","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: add milk in the coffee\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nadd milk in the coffee Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2159435373621030116.mp4"}
+{"uid":"9263276278455499428","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please flip the bowl, then pick up the candy from the floor and put them in the bowl. last 20 steps: 1- Put the bowl up right 2- Put the green candy in the bowl 3- Put the yellow candy in the bowl 4- Put the yellow candy in the bowl 5- Put the pink candy in the bowl 6- Put the pink candy in the bowl 7- Put the pink candy in the bowl 8- Put the green candy in the bowl 9- Put the green candy in the bowl 10- Put the yellow candy in the bowl 11- Put the yellow candy in the bowl Q: immediate next step? \u003cPRED\u003eA: Put the yellow candy in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please flip the bowl, then pick up the candy from the floor and put them in the bowl. last 20 steps: 1- Put the bowl up right 2- Put the green candy in the bowl 3- Put the yellow candy in the bowl 4- Put the yellow candy in the bowl 5- Put the pink candy in the bowl 6- Put the pink candy in the bowl 7- Put the pink candy in the bowl 8- Put the green candy in the bowl 9- Put the green candy in the bowl 10- Put the yellow candy in the bowl 11- Put the yellow candy in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put the yellow candy in the bowl 2- Put the yellow candy in the bowl 3- Put the yellow candy in the bowl 4- Put the green candy in the bowl 5- Put the pink candy in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the yellow candy in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the yellow candy in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please flip the bowl, then pick up the candy from the floor and put them in the bowl. Q: immediate next step? \u003cPRED\u003eA: Put the yellow candy in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the yellow candy in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14289361711335378592.mp4"}
+{"uid":"3702538029740685371","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the orange packet in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14246113921710098899.mp4"}
+{"uid":"8355443678697875753","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the green candy in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the green candy in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please flip the bowl, then pick up the candy from the floor and put them in the bowl. last 20 steps: 1- Put the bowl up right 2- Put the green candy in the bowl 3- Put the yellow candy in the bowl 4- Put the yellow candy in the bowl 5- Put the pink candy in the bowl 6- Put the pink candy in the bowl 7- Put the pink candy in the bowl 8- Put the green candy in the bowl 9- Put the green candy in the bowl 10- Put the yellow candy in the bowl 11- Put the yellow candy in the bowl 12- Put the yellow candy in the bowl 13- Put the yellow candy in the bowl 14- Put the yellow candy in the bowl 15- Put the green candy in the bowl 16- Put the pink candy in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put the green candy in the bowl 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please flip the bowl, then pick up the candy from the floor and put them in the bowl. Q: immediate next step? \u003cPRED\u003eA: Put the green candy in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please flip the bowl, then pick up the candy from the floor and put them in the bowl. last 20 steps: 1- Put the bowl up right 2- Put the green candy in the bowl 3- Put the yellow candy in the bowl 4- Put the yellow candy in the bowl 5- Put the pink candy in the bowl 6- Put the pink candy in the bowl 7- Put the pink candy in the bowl 8- Put the green candy in the bowl 9- Put the green candy in the bowl 10- Put the yellow candy in the bowl 11- Put the yellow candy in the bowl 12- Put the yellow candy in the bowl 13- Put the yellow candy in the bowl 14- Put the yellow candy in the bowl 15- Put the green candy in the bowl 16- Put the pink candy in the bowl Q: immediate next step? \u003cPRED\u003eA: Put the green candy in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the green candy in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the green candy in the bowl\n\u003c/PRED\u003e","video":"13921157179382866723.mp4"}
+{"uid":"14438667494644296604","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the pistachio in a cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6499099712431634602.mp4"}
+{"uid":"7904178544445800922","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the packet in the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16034607385727414261.mp4"}
+{"uid":"14269790506304647609","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please make me an iced coffee with half and half. last 20 steps: 1- pick up a glass from the stack of glass 2- put glass on the ice machine 3- press the blue button 4- pick glass from the ice machine 5- put glass on the coffee machine 6- select the coffee 7- take out the blue milk carton from fridge 8- put milk carton on the table 9- pick up the glass from coffee machine Q: immediate next step? \u003cPRED\u003eA: add syrup in the glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nadd syrup in the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please make me an iced coffee with half and half. last 20 steps: 1- pick up a glass from the stack of glass 2- put glass on the ice machine 3- press the blue button 4- pick glass from the ice machine 5- put glass on the coffee machine 6- select the coffee 7- take out the blue milk carton from fridge 8- put milk carton on the table 9- pick up the glass from coffee machine Q: next 5 steps? \u003cPRED\u003eA: 1- add syrup in the glass 2- put glass on the table 3- take out a mixing stick 4- mix the coffee with stick 5- open the milk carton\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: add syrup in the glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please make me an iced coffee with half and half Q: immediate next step? \u003cPRED\u003eA: add syrup in the glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: add syrup in the glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nadd syrup in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11244031514235481132.mp4"}
+{"uid":"10879067929235584033","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick the back bag from another table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5182064814560318091.mp4"}
+{"uid":"1080983997858777690","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput candy in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5791236055727648035.mp4"}
+{"uid":"5341492431843843453","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put glass on the coffee machine\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please make me an iced coffee with half and half Q: immediate next step? \u003cPRED\u003eA: put glass on the coffee machine\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput glass on the coffee machine Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please make me an iced coffee with half and half. last 20 steps: 1- pick up a glass from the stack of glass 2- put glass on the ice machine 3- press the blue button 4- pick glass from the ice machine Q: next 5 steps? \u003cPRED\u003eA: 1- put glass on the coffee machine 2- select the coffee 3- take out the blue milk carton from fridge 4- put milk carton on the table 5- pick up the glass from coffee machine\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put glass on the coffee machine\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please make me an iced coffee with half and half. last 20 steps: 1- pick up a glass from the stack of glass 2- put glass on the ice machine 3- press the blue button 4- pick glass from the ice machine Q: immediate next step? \u003cPRED\u003eA: put glass on the coffee machine\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput glass on the coffee machine Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9777406471396940469.mp4"}
+{"uid":"6912357546360404896","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the bowl up right\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the bowl up right\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the bowl up right Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please flip the bowl, then pick up the candy from the floor and put them in the bowl. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Put the bowl up right 2- Put the green candy in the bowl 3- Put the yellow candy in the bowl 4- Put the yellow candy in the bowl 5- Put the pink candy in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the bowl up right Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please flip the bowl, then pick up the candy from the floor and put them in the bowl. Q: immediate next step? \u003cPRED\u003eA: Put the bowl up right\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please flip the bowl, then pick up the candy from the floor and put them in the bowl. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Put the bowl up right\n\u003c/PRED\u003e","video":"3112233928191417049.mp4"}
+{"uid":"6945046524108272018","text":"\u003ctask:success:discrete:True\u003e\nthrow mixing stick in the dustbin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: throw mixing stick in the dustbin\n\u003c/PRED\u003e","video":"8743228722018098400.mp4"}
+{"uid":"4110761673767446186","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the marker in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14974006495139161219.mp4"}
+{"uid":"12812069032647130410","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput clip in the black tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2995348636282980210.mp4"}
+{"uid":"15393542588002950664","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\npick glass from the ice machine Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please make me an iced coffee with half and half Q: immediate next step? \u003cPRED\u003eA: pick glass from the ice machine\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please make me an iced coffee with half and half. last 20 steps: 1- pick up a glass from the stack of glass 2- put glass on the ice machine 3- press the blue button Q: immediate next step? \u003cPRED\u003eA: pick glass from the ice machine\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick glass from the ice machine Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick glass from the ice machine\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick glass from the ice machine\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please make me an iced coffee with half and half. last 20 steps: 1- pick up a glass from the stack of glass 2- put glass on the ice machine 3- press the blue button Q: next 5 steps? \u003cPRED\u003eA: 1- pick glass from the ice machine 2- put glass on the coffee machine 3- select the coffee 4- take out the blue milk carton from fridge 5- put milk carton on the table\n\u003c/PRED\u003e","video":"13039387679172254055.mp4"}
+{"uid":"1817885196860759339","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput tea box on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15318360346528838728.mp4"}
+{"uid":"11399970592610625091","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pistachio in the paper cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3770486862735719728.mp4"}
+{"uid":"17010230949096770837","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Please flip the bowl, then pick up the candy from the floor and put them in the bowl. Q: immediate next step? \u003cPRED\u003eA: Put the green candy in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please flip the bowl, then pick up the candy from the floor and put them in the bowl. last 20 steps: 1- Put the bowl up right 2- Put the green candy in the bowl 3- Put the yellow candy in the bowl 4- Put the yellow candy in the bowl 5- Put the pink candy in the bowl 6- Put the pink candy in the bowl 7- Put the pink candy in the bowl 8- Put the green candy in the bowl Q: immediate next step? \u003cPRED\u003eA: Put the green candy in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please flip the bowl, then pick up the candy from the floor and put them in the bowl. last 20 steps: 1- Put the bowl up right 2- Put the green candy in the bowl 3- Put the yellow candy in the bowl 4- Put the yellow candy in the bowl 5- Put the pink candy in the bowl 6- Put the pink candy in the bowl 7- Put the pink candy in the bowl 8- Put the green candy in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put the green candy in the bowl 2- Put the yellow candy in the bowl 3- Put the yellow candy in the bowl 4- Put the yellow candy in the bowl 5- Put the yellow candy in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the green candy in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the green candy in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the green candy in the bowl\n\u003c/PRED\u003e","video":"14064380517181559871.mp4"}
+{"uid":"6960080672249778","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the black pens in the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1432365017518692978.mp4"}
+{"uid":"2105257130670790109","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput can in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14113582911486701234.mp4"}
+{"uid":"7450190401836973116","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick the orange and green marker Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4406464174695486892.mp4"}
+{"uid":"17542124348798933731","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please make me an iced coffee with half and half. last 20 steps: 1- pick up a glass from the stack of glass 2- put glass on the ice machine 3- press the blue button 4- pick glass from the ice machine 5- put glass on the coffee machine 6- select the coffee 7- take out the blue milk carton from fridge 8- put milk carton on the table 9- pick up the glass from coffee machine 10- add syrup in the glass 11- put glass on the table Q: immediate next step? \u003cPRED\u003eA: take out a mixing stick\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please make me an iced coffee with half and half Q: immediate next step? \u003cPRED\u003eA: take out a mixing stick\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: take out a mixing stick\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ntake out a mixing stick Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: take out a mixing stick\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ntake out a mixing stick Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please make me an iced coffee with half and half. last 20 steps: 1- pick up a glass from the stack of glass 2- put glass on the ice machine 3- press the blue button 4- pick glass from the ice machine 5- put glass on the coffee machine 6- select the coffee 7- take out the blue milk carton from fridge 8- put milk carton on the table 9- pick up the glass from coffee machine 10- add syrup in the glass 11- put glass on the table Q: next 5 steps? \u003cPRED\u003eA: 1- take out a mixing stick 2- mix the coffee with stick 3- open the milk carton 4- add milk in the coffee 5- put milk carton on the table\n\u003c/PRED\u003e","video":"4438529723643312312.mp4"}
+{"uid":"17225222505773950684","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nclose the milk carton Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nclose the milk carton Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please make me an iced coffee with half and half. last 20 steps: 1- pick up a glass from the stack of glass 2- put glass on the ice machine 3- press the blue button 4- pick glass from the ice machine 5- put glass on the coffee machine 6- select the coffee 7- take out the blue milk carton from fridge 8- put milk carton on the table 9- pick up the glass from coffee machine 10- add syrup in the glass 11- put glass on the table 12- take out a mixing stick 13- mix the coffee with stick 14- open the milk carton 15- add milk in the coffee 16- put milk carton on the table Q: immediate next step? \u003cPRED\u003eA: close the milk carton\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please make me an iced coffee with half and half. last 20 steps: 1- pick up a glass from the stack of glass 2- put glass on the ice machine 3- press the blue button 4- pick glass from the ice machine 5- put glass on the coffee machine 6- select the coffee 7- take out the blue milk carton from fridge 8- put milk carton on the table 9- pick up the glass from coffee machine 10- add syrup in the glass 11- put glass on the table 12- take out a mixing stick 13- mix the coffee with stick 14- open the milk carton 15- add milk in the coffee 16- put milk carton on the table Q: next 5 steps? \u003cPRED\u003eA: 1- close the milk carton 2- open the fridge 3- put milk carton in the fridge 4- close the fridge 5- mix the coffee\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: close the milk carton\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please make me an iced coffee with half and half Q: immediate next step? \u003cPRED\u003eA: close the milk carton\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: close the milk carton\n\u003c/PRED\u003e","video":"396855588336620094.mp4"}
+{"uid":"8428509582006197716","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put milk carton on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput milk carton on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put milk carton on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please make me an iced coffee with half and half. last 20 steps: 1- pick up a glass from the stack of glass 2- put glass on the ice machine 3- press the blue button 4- pick glass from the ice machine 5- put glass on the coffee machine 6- select the coffee 7- take out the blue milk carton from fridge Q: next 5 steps? \u003cPRED\u003eA: 1- put milk carton on the table 2- pick up the glass from coffee machine 3- add syrup in the glass 4- put glass on the table 5- take out a mixing stick\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput milk carton on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please make me an iced coffee with half and half Q: immediate next step? \u003cPRED\u003eA: put milk carton on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please make me an iced coffee with half and half. last 20 steps: 1- pick up a glass from the stack of glass 2- put glass on the ice machine 3- press the blue button 4- pick glass from the ice machine 5- put glass on the coffee machine 6- select the coffee 7- take out the blue milk carton from fridge Q: immediate next step? \u003cPRED\u003eA: put milk carton on the table\n\u003c/PRED\u003e","video":"14639999411571956990.mp4"}
+{"uid":"10243750199180368991","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nunstack the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"139418914067330234.mp4"}
+{"uid":"8795925617373931624","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: press the blue button\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npress the blue button Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2214700423083734364.mp4"}
+{"uid":"1387405964327019904","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please make me an iced coffee with half and half. last 20 steps: 1- pick up a glass from the stack of glass 2- put glass on the ice machine 3- press the blue button 4- pick glass from the ice machine 5- put glass on the coffee machine Q: next 5 steps? \u003cPRED\u003eA: 1- select the coffee 2- take out the blue milk carton from fridge 3- put milk carton on the table 4- pick up the glass from coffee machine 5- add syrup in the glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please make me an iced coffee with half and half Q: immediate next step? \u003cPRED\u003eA: select the coffee\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: select the coffee\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: select the coffee\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nselect the coffee Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please make me an iced coffee with half and half. last 20 steps: 1- pick up a glass from the stack of glass 2- put glass on the ice machine 3- press the blue button 4- pick glass from the ice machine 5- put glass on the coffee machine Q: immediate next step? \u003cPRED\u003eA: select the coffee\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nselect the coffee Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13284186650054516279.mp4"}
+{"uid":"6520648769174545896","text":"\u003ctask:success:discrete:True\u003e\nput milk carton in the fridge Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put milk carton in the fridge\n\u003c/PRED\u003e","video":"17056930908657585005.mp4"}
+{"uid":"9549981373877621561","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please flip the bowl, then pick up the candy from the floor and put them in the bowl. last 20 steps: 1- Put the bowl up right 2- Put the green candy in the bowl 3- Put the yellow candy in the bowl 4- Put the yellow candy in the bowl 5- Put the pink candy in the bowl 6- Put the pink candy in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put the pink candy in the bowl 2- Put the green candy in the bowl 3- Put the green candy in the bowl 4- Put the yellow candy in the bowl 5- Put the yellow candy in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the pink candy in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the pink candy in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please flip the bowl, then pick up the candy from the floor and put them in the bowl. Q: immediate next step? \u003cPRED\u003eA: Put the pink candy in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the pink candy in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please flip the bowl, then pick up the candy from the floor and put them in the bowl. last 20 steps: 1- Put the bowl up right 2- Put the green candy in the bowl 3- Put the yellow candy in the bowl 4- Put the yellow candy in the bowl 5- Put the pink candy in the bowl 6- Put the pink candy in the bowl Q: immediate next step? \u003cPRED\u003eA: Put the pink candy in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the pink candy in the bowl\n\u003c/PRED\u003e","video":"16721070611866358872.mp4"}
+{"uid":"16612820731381198800","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please make me an iced coffee with half and half. last 20 steps: 1- pick up a glass from the stack of glass Q: next 5 steps? \u003cPRED\u003eA: 1- put glass on the ice machine 2- press the blue button 3- pick glass from the ice machine 4- put glass on the coffee machine 5- select the coffee\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put glass on the ice machine\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put glass on the ice machine\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput glass on the ice machine Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput glass on the ice machine Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please make me an iced coffee with half and half Q: immediate next step? \u003cPRED\u003eA: put glass on the ice machine\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please make me an iced coffee with half and half. last 20 steps: 1- pick up a glass from the stack of glass Q: immediate next step? \u003cPRED\u003eA: put glass on the ice machine\n\u003c/PRED\u003e","video":"2792486546122269034.mp4"}
+{"uid":"3595425976461764077","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the green candy in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please flip the bowl, then pick up the candy from the floor and put them in the bowl. last 20 steps: 1- Put the bowl up right 2- Put the green candy in the bowl 3- Put the yellow candy in the bowl 4- Put the yellow candy in the bowl 5- Put the pink candy in the bowl 6- Put the pink candy in the bowl 7- Put the pink candy in the bowl 8- Put the green candy in the bowl 9- Put the green candy in the bowl 10- Put the yellow candy in the bowl 11- Put the yellow candy in the bowl 12- Put the yellow candy in the bowl 13- Put the yellow candy in the bowl 14- Put the yellow candy in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put the green candy in the bowl 2- Put the pink candy in the bowl 3- Put the green candy in the bowl 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the green candy in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the green candy in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the green candy in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please flip the bowl, then pick up the candy from the floor and put them in the bowl. Q: immediate next step? \u003cPRED\u003eA: Put the green candy in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please flip the bowl, then pick up the candy from the floor and put them in the bowl. last 20 steps: 1- Put the bowl up right 2- Put the green candy in the bowl 3- Put the yellow candy in the bowl 4- Put the yellow candy in the bowl 5- Put the pink candy in the bowl 6- Put the pink candy in the bowl 7- Put the pink candy in the bowl 8- Put the green candy in the bowl 9- Put the green candy in the bowl 10- Put the yellow candy in the bowl 11- Put the yellow candy in the bowl 12- Put the yellow candy in the bowl 13- Put the yellow candy in the bowl 14- Put the yellow candy in the bowl Q: immediate next step? \u003cPRED\u003eA: Put the green candy in the bowl\n\u003c/PRED\u003e","video":"14333720133436622921.mp4"}
+{"uid":"1814968192380821049","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Please flip the bowl, then pick up the candy from the floor and put them in the bowl. Q: immediate next step? \u003cPRED\u003eA: Put the yellow candy in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please flip the bowl, then pick up the candy from the floor and put them in the bowl. last 20 steps: 1- Put the bowl up right 2- Put the green candy in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put the yellow candy in the bowl 2- Put the yellow candy in the bowl 3- Put the pink candy in the bowl 4- Put the pink candy in the bowl 5- Put the pink candy in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the yellow candy in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the yellow candy in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the yellow candy in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please flip the bowl, then pick up the candy from the floor and put them in the bowl. last 20 steps: 1- Put the bowl up right 2- Put the green candy in the bowl Q: immediate next step? \u003cPRED\u003eA: Put the yellow candy in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the yellow candy in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17476023630173654450.mp4"}
+{"uid":"11528133750123490243","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput a black pen in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2286213400793713869.mp4"}
+{"uid":"11415531692278379576","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the white packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5645936663878468277.mp4"}
+{"uid":"6567128875714971291","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: take out the blue milk carton from fridge\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please make me an iced coffee with half and half. last 20 steps: 1- pick up a glass from the stack of glass 2- put glass on the ice machine 3- press the blue button 4- pick glass from the ice machine 5- put glass on the coffee machine 6- select the coffee Q: next 5 steps? \u003cPRED\u003eA: 1- take out the blue milk carton from fridge 2- put milk carton on the table 3- pick up the glass from coffee machine 4- add syrup in the glass 5- put glass on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: take out the blue milk carton from fridge\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please make me an iced coffee with half and half. last 20 steps: 1- pick up a glass from the stack of glass 2- put glass on the ice machine 3- press the blue button 4- pick glass from the ice machine 5- put glass on the coffee machine 6- select the coffee Q: immediate next step? \u003cPRED\u003eA: take out the blue milk carton from fridge\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please make me an iced coffee with half and half Q: immediate next step? \u003cPRED\u003eA: take out the blue milk carton from fridge\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ntake out the blue milk carton from fridge Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ntake out the blue milk carton from fridge Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2039779458959651313.mp4"}
+{"uid":"12115251321619312429","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nStack the packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9421002916369338802.mp4"}
+{"uid":"8296558870130085821","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the yellow candy in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please flip the bowl, then pick up the candy from the floor and put them in the bowl. last 20 steps: 1- Put the bowl up right 2- Put the green candy in the bowl 3- Put the yellow candy in the bowl 4- Put the yellow candy in the bowl 5- Put the pink candy in the bowl 6- Put the pink candy in the bowl 7- Put the pink candy in the bowl 8- Put the green candy in the bowl 9- Put the green candy in the bowl 10- Put the yellow candy in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put the yellow candy in the bowl 2- Put the yellow candy in the bowl 3- Put the yellow candy in the bowl 4- Put the yellow candy in the bowl 5- Put the green candy in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please flip the bowl, then pick up the candy from the floor and put them in the bowl. last 20 steps: 1- Put the bowl up right 2- Put the green candy in the bowl 3- Put the yellow candy in the bowl 4- Put the yellow candy in the bowl 5- Put the pink candy in the bowl 6- Put the pink candy in the bowl 7- Put the pink candy in the bowl 8- Put the green candy in the bowl 9- Put the green candy in the bowl 10- Put the yellow candy in the bowl Q: immediate next step? \u003cPRED\u003eA: Put the yellow candy in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the yellow candy in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please flip the bowl, then pick up the candy from the floor and put them in the bowl. Q: immediate next step? \u003cPRED\u003eA: Put the yellow candy in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the yellow candy in the bowl\n\u003c/PRED\u003e","video":"6128746001760109119.mp4"}
+{"uid":"17321144742028161760","text":"\u003ctask:success:discrete:False\u003e\npick up the glass from coffee machine Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please make me an iced coffee with half and half Q: immediate next step? \u003cPRED\u003eA: pick up the glass from coffee machine\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the glass from coffee machine\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the glass from coffee machine Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please make me an iced coffee with half and half. last 20 steps: 1- pick up a glass from the stack of glass 2- put glass on the ice machine 3- press the blue button 4- pick glass from the ice machine 5- put glass on the coffee machine 6- select the coffee 7- take out the blue milk carton from fridge 8- put milk carton on the table Q: immediate next step? \u003cPRED\u003eA: pick up the glass from coffee machine\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the glass from coffee machine\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please make me an iced coffee with half and half. last 20 steps: 1- pick up a glass from the stack of glass 2- put glass on the ice machine 3- press the blue button 4- pick glass from the ice machine 5- put glass on the coffee machine 6- select the coffee 7- take out the blue milk carton from fridge 8- put milk carton on the table Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the glass from coffee machine 2- add syrup in the glass 3- put glass on the table 4- take out a mixing stick 5- mix the coffee with stick\n\u003c/PRED\u003e","video":"1246599017920836085.mp4"}
+{"uid":"1690608578280022557","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput clip in the organiser Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3863088653448897065.mp4"}
+{"uid":"7969459882469502958","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput apple in white bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9021174930717427319.mp4"}
+{"uid":"11010459963127806427","text":"\u003ctask:success:discrete:False\u003e\nmix the coffee Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please make me an iced coffee with half and half. last 20 steps: 1- pick up a glass from the stack of glass 2- put glass on the ice machine 3- press the blue button 4- pick glass from the ice machine 5- put glass on the coffee machine 6- select the coffee 7- take out the blue milk carton from fridge 8- put milk carton on the table 9- pick up the glass from coffee machine 10- add syrup in the glass 11- put glass on the table 12- take out a mixing stick 13- mix the coffee with stick 14- open the milk carton 15- add milk in the coffee 16- put milk carton on the table 17- close the milk carton 18- open the fridge 19- put milk carton in the fridge 20- close the fridge Q: immediate next step? \u003cPRED\u003eA: mix the coffee\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmix the coffee Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please make me an iced coffee with half and half Q: immediate next step? \u003cPRED\u003eA: mix the coffee\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: mix the coffee\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: mix the coffee\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please make me an iced coffee with half and half. last 20 steps: 1- pick up a glass from the stack of glass 2- put glass on the ice machine 3- press the blue button 4- pick glass from the ice machine 5- put glass on the coffee machine 6- select the coffee 7- take out the blue milk carton from fridge 8- put milk carton on the table 9- pick up the glass from coffee machine 10- add syrup in the glass 11- put glass on the table 12- take out a mixing stick 13- mix the coffee with stick 14- open the milk carton 15- add milk in the coffee 16- put milk carton on the table 17- close the milk carton 18- open the fridge 19- put milk carton in the fridge 20- close the fridge Q: next 5 steps? \u003cPRED\u003eA: 1- mix the coffee 2- throw mixing stick in the dustbin 3- take out a lid from the stack of lid 4- cover coffee glass with the lid 5- done\n\u003c/PRED\u003e","video":"7567639818173594394.mp4"}
+{"uid":"14463233020566868846","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the robotic toy in the shelf Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15391015894288227607.mp4"}
+{"uid":"2169671682166352628","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please flip the bowl, then pick up the candy from the floor and put them in the bowl. last 20 steps: 1- Put the bowl up right 2- Put the green candy in the bowl 3- Put the yellow candy in the bowl Q: immediate next step? \u003cPRED\u003eA: Put the yellow candy in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the yellow candy in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the yellow candy in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the yellow candy in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please flip the bowl, then pick up the candy from the floor and put them in the bowl. Q: immediate next step? \u003cPRED\u003eA: Put the yellow candy in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please flip the bowl, then pick up the candy from the floor and put them in the bowl. last 20 steps: 1- Put the bowl up right 2- Put the green candy in the bowl 3- Put the yellow candy in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put the yellow candy in the bowl 2- Put the pink candy in the bowl 3- Put the pink candy in the bowl 4- Put the pink candy in the bowl 5- Put the green candy in the bowl\n\u003c/PRED\u003e","video":"2515777342316644746.mp4"}
+{"uid":"7218296164137411133","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove to the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16169674262670725231.mp4"}
+{"uid":"4220322560073975441","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace candy in the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16084457571084815399.mp4"}
+{"uid":"4569423660974064575","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Please flip the bowl, then pick up the candy from the floor and put them in the bowl. Q: immediate next step? \u003cPRED\u003eA: Put the pink candy in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please flip the bowl, then pick up the candy from the floor and put them in the bowl. last 20 steps: 1- Put the bowl up right 2- Put the green candy in the bowl 3- Put the yellow candy in the bowl 4- Put the yellow candy in the bowl Q: immediate next step? \u003cPRED\u003eA: Put the pink candy in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the pink candy in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the pink candy in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the pink candy in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please flip the bowl, then pick up the candy from the floor and put them in the bowl. last 20 steps: 1- Put the bowl up right 2- Put the green candy in the bowl 3- Put the yellow candy in the bowl 4- Put the yellow candy in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put the pink candy in the bowl 2- Put the pink candy in the bowl 3- Put the pink candy in the bowl 4- Put the green candy in the bowl 5- Put the green candy in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the pink candy in the bowl\n\u003c/PRED\u003e","video":"11026599312915032445.mp4"}
+{"uid":"16522262330049917256","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put milk carton on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput milk carton on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput milk carton on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please make me an iced coffee with half and half. last 20 steps: 1- pick up a glass from the stack of glass 2- put glass on the ice machine 3- press the blue button 4- pick glass from the ice machine 5- put glass on the coffee machine 6- select the coffee 7- take out the blue milk carton from fridge 8- put milk carton on the table 9- pick up the glass from coffee machine 10- add syrup in the glass 11- put glass on the table 12- take out a mixing stick 13- mix the coffee with stick 14- open the milk carton 15- add milk in the coffee Q: immediate next step? \u003cPRED\u003eA: put milk carton on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please make me an iced coffee with half and half. last 20 steps: 1- pick up a glass from the stack of glass 2- put glass on the ice machine 3- press the blue button 4- pick glass from the ice machine 5- put glass on the coffee machine 6- select the coffee 7- take out the blue milk carton from fridge 8- put milk carton on the table 9- pick up the glass from coffee machine 10- add syrup in the glass 11- put glass on the table 12- take out a mixing stick 13- mix the coffee with stick 14- open the milk carton 15- add milk in the coffee Q: next 5 steps? \u003cPRED\u003eA: 1- put milk carton on the table 2- close the milk carton 3- open the fridge 4- put milk carton in the fridge 5- close the fridge\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put milk carton on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please make me an iced coffee with half and half Q: immediate next step? \u003cPRED\u003eA: put milk carton on the table\n\u003c/PRED\u003e","video":"9185049551281576977.mp4"}
+{"uid":"12934819731509769041","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove close to the sticky note Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12697812613357209223.mp4"}
+{"uid":"4788826686516039297","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put markers in the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput markers in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7176217054918599738.mp4"}
+{"uid":"11825308699338182573","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the spoon on the tissue Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14018697003567786205.mp4"}
+{"uid":"14477842073484639262","text":"\u003ctask:success:discrete:True\u003e\nPut the orange marker in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the orange marker in the holder\n\u003c/PRED\u003e","video":"220411657054827418.mp4"}
+{"uid":"16000678509178867422","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the office supplies in the holder. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put markers in stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput markers in stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the office supplies in the holder. Q: immediate next step? \u003cPRED\u003eA: put markers in stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put markers in stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the office supplies in the holder. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put markers in stand 2- put orange marker in the stand 3- put green marker in the black stand 4- Put the clip in the holder 5- Move the clip backward\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put markers in stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput markers in stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4303067887852714266.mp4"}
+{"uid":"12325421433742695142","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nenter the room Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13168626894621738321.mp4"}
+{"uid":"5255992256664981351","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the box in the sink\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the box in the sink Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Get my water bottle and empty tupperware from my desk and place it in the sink Q: immediate next step? \u003cPRED\u003eA: place the box in the sink\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Get my water bottle and empty tupperware from my desk and place it in the sink. last 20 steps: 1- pick up the water bottle 2- place the water bottle in the sink 3- pick up the box Q: next 5 steps? \u003cPRED\u003eA: 1- place the box in the sink 2- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the box in the sink Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the box in the sink\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Get my water bottle and empty tupperware from my desk and place it in the sink. last 20 steps: 1- pick up the water bottle 2- place the water bottle in the sink 3- pick up the box Q: immediate next step? \u003cPRED\u003eA: place the box in the sink\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:False\u003e\nput blue packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12749906177000450266.mp4"}
+{"uid":"6316874704277592124","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Get my water bottle and empty tupperware from my desk and place it in the sink Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the box in the sink\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Get my water bottle and empty tupperware from my desk and place it in the sink. last 20 steps: 1- pick up the water bottle 2- place the water bottle in the sink 3- pick up the box 4- place the box in the sink Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Get my water bottle and empty tupperware from my desk and place it in the sink. last 20 steps: 1- pick up the water bottle 2- place the water bottle in the sink 3- pick up the box 4- place the box in the sink Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the box in the sink Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8576850212584775826.mp4"}
+{"uid":"1889187789706814806","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put clip in stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the office supplies in the holder. last 20 steps: 1- put markers in the stand 2- put orange marker in the stand 3- put green marker in the black stand Q: next 5 steps? \u003cPRED\u003eA: 1- put clip in stand 2- Move the clip backward 3- put clip in stand 4- put tape box in the stand 5- Put the black gadget in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput clip in stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put clip in stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput clip in stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the office supplies in the holder. last 20 steps: 1- put markers in the stand 2- put orange marker in the stand 3- put green marker in the black stand Q: immediate next step? \u003cPRED\u003eA: put clip in stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the office supplies in the holder. Q: immediate next step? \u003cPRED\u003eA: put clip in stand\n\u003c/PRED\u003e","video":"2952960947985797309.mp4"}
+{"uid":"8691687762009189213","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the ball on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3382665515101527221.mp4"}
+{"uid":"6115596360532879276","text":"\u003ctask:success:discrete:True\u003e\nput green marker in the black stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put green marker in the black stand\n\u003c/PRED\u003e","video":"16186772594838986323.mp4"}
+{"uid":"12264440228928558373","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the red pouch in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10259896180235984067.mp4"}
+{"uid":"7151594184003424905","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput pear in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4517163731891988861.mp4"}
+{"uid":"7812439007268677609","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the toy on the bag Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11685855017684675579.mp4"}
+{"uid":"8885179508587719924","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put markers in stand\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput markers in stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8599310898188829677.mp4"}
+{"uid":"2642448911702190695","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the office supplies in the holder. Q: immediate next step? \u003cPRED\u003eA: put tape box in the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput tape box in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the office supplies in the holder. last 20 steps: 1- put markers in the stand 2- put orange marker in the stand 3- put green marker in the black stand 4- Put the clip in the holder 5- Move the clip backward 6- put clip in stand Q: immediate next step? \u003cPRED\u003eA: put tape box in the stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put tape box in the stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put tape box in the stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput tape box in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the office supplies in the holder. last 20 steps: 1- put markers in the stand 2- put orange marker in the stand 3- put green marker in the black stand 4- Put the clip in the holder 5- Move the clip backward 6- put clip in stand Q: next 5 steps? \u003cPRED\u003eA: 1- put tape box in the stand 2- Put the black gadget in the holder 3- done\n\u003c/PRED\u003e","video":"1757770703935237224.mp4"}
+{"uid":"10516559586278506235","text":"\u003ctask:success:discrete:True\u003e\nplace the water bottle in the sink Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the water bottle in the sink\n\u003c/PRED\u003e","video":"15890340551427914223.mp4"}
+{"uid":"10314680603562141451","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the water bottle\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the water bottle Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Get my water bottle and empty tupperware from my desk and place it in the sink. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the water bottle 2- place the water bottle in the sink 3- pick up the box 4- place the box in the sink 5- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the water bottle\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the water bottle Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Get my water bottle and empty tupperware from my desk and place it in the sink. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: pick up the water bottle\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Get my water bottle and empty tupperware from my desk and place it in the sink Q: immediate next step? \u003cPRED\u003eA: pick up the water bottle\n\u003c/PRED\u003e","video":"14262535485750800840.mp4"}
+{"uid":"16078306367062675600","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the green marker in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the green marker in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15248110780548558794.mp4"}
+{"uid":"5411915495992237674","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the office supplies in the holder. last 20 steps: 1- put markers in the stand 2- put orange marker in the stand 3- put green marker in the black stand 4- Put the clip in the holder 5- Move the clip backward Q: immediate next step? \u003cPRED\u003eA: put paper clip in the stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put paper clip in the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput paper clip in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the office supplies in the holder. last 20 steps: 1- put markers in the stand 2- put orange marker in the stand 3- put green marker in the black stand 4- Put the clip in the holder 5- Move the clip backward Q: next 5 steps? \u003cPRED\u003eA: 1- put paper clip in the stand 2- put tape box in the stand 3- Put the black gadget in the holder 4- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the office supplies in the holder. Q: immediate next step? \u003cPRED\u003eA: put paper clip in the stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put paper clip in the stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput paper clip in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2482820728438155830.mp4"}
+{"uid":"13244637642370192029","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the white popcorn packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"99745455071020048.mp4"}
+{"uid":"7763270619734754641","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nRelease the yellow cable in the trap door Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18446382139396108932.mp4"}
+{"uid":"12215829210179976201","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put marker in stand\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput marker in stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16184015273883035574.mp4"}
+{"uid":"9271629566128050061","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nclose the left door of the cupboard Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"25967080440369703.mp4"}
+{"uid":"17526934539712649897","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the office supplies in the holder. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put markers in the stand 2- put orange marker in the stand 3- put green marker in the black stand 4- Put the clip in the holder 5- Move the clip backward\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put markers in the stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put markers in the stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the office supplies in the holder. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put markers in the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput markers in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput markers in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the office supplies in the holder. Q: immediate next step? \u003cPRED\u003eA: put markers in the stand\n\u003c/PRED\u003e","video":"4918699487375840176.mp4"}
+{"uid":"15503096662104340339","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the green marker in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the green marker in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the office supplies in the holder. last 20 steps: 1- put markers in the stand 2- put orange marker in the stand Q: immediate next step? \u003cPRED\u003eA: Put the green marker in the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the green marker in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the office supplies in the holder. last 20 steps: 1- put markers in the stand 2- put orange marker in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- Put the green marker in the holder 2- Put the clip in the holder 3- Move the clip backward 4- put clip in stand 5- put tape box in the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the green marker in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the office supplies in the holder. Q: immediate next step? \u003cPRED\u003eA: Put the green marker in the holder\n\u003c/PRED\u003e","video":"11716753960470107296.mp4"}
+{"uid":"2638027941301302856","text":"\u003ctask:success:discrete:True\u003e\nPut the markers in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the markers in the holder\n\u003c/PRED\u003e","video":"10711422320877569040.mp4"}
+{"uid":"16035405405937980216","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput green marker in the black stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put green marker in the black stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put green marker in the black stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the office supplies in the holder. Q: immediate next step? \u003cPRED\u003eA: put green marker in the black stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the office supplies in the holder. last 20 steps: 1- put markers in the stand 2- put orange marker in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- put green marker in the black stand 2- Put the clip in the holder 3- Move the clip backward 4- put clip in stand 5- put tape box in the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput green marker in the black stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the office supplies in the holder. last 20 steps: 1- put markers in the stand 2- put orange marker in the stand Q: immediate next step? \u003cPRED\u003eA: put green marker in the black stand\n\u003c/PRED\u003e","video":"7660943397366186206.mp4"}
+{"uid":"8839677013799673133","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput cookie square in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6234547227249164532.mp4"}
+{"uid":"5462252709762768172","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the clip in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the office supplies in the holder. last 20 steps: 1- put markers in the stand 2- put orange marker in the stand 3- put green marker in the black stand Q: immediate next step? \u003cPRED\u003eA: Put the clip in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the office supplies in the holder. last 20 steps: 1- put markers in the stand 2- put orange marker in the stand 3- put green marker in the black stand Q: next 5 steps? \u003cPRED\u003eA: 1- Put the clip in the holder 2- Move the clip backward 3- put clip in stand 4- put tape box in the stand 5- Put the black gadget in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the clip in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the clip in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the clip in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the office supplies in the holder. Q: immediate next step? \u003cPRED\u003eA: Put the clip in the holder\n\u003c/PRED\u003e","video":"17018443081634138862.mp4"}
+{"uid":"7629946720182654522","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the office supplies in the holder. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Put the markers in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the markers in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the office supplies in the holder. Q: immediate next step? \u003cPRED\u003eA: Put the markers in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the office supplies in the holder. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Put the markers in the holder 2- put orange marker in the stand 3- put green marker in the black stand 4- Put the clip in the holder 5- Move the clip backward\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the markers in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the markers in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the markers in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11846930181987125394.mp4"}
+{"uid":"4029720036473474913","text":"\u003ctask:success:discrete:False\u003e\nMove the clip backward Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the office supplies in the holder. last 20 steps: 1- put markers in the stand 2- put orange marker in the stand 3- put green marker in the black stand 4- Put the clip in the holder Q: immediate next step? \u003cPRED\u003eA: Move the clip backward\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove the clip backward Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move the clip backward\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the office supplies in the holder. Q: immediate next step? \u003cPRED\u003eA: Move the clip backward\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the office supplies in the holder. last 20 steps: 1- put markers in the stand 2- put orange marker in the stand 3- put green marker in the black stand 4- Put the clip in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- Move the clip backward 2- put clip in stand 3- put tape box in the stand 4- Put the black gadget in the holder 5- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move the clip backward\n\u003c/PRED\u003e","video":"13889971760780283851.mp4"}
+{"uid":"5997235193287929282","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput marker in stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the office supplies in the holder. Q: immediate next step? \u003cPRED\u003eA: put marker in stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put marker in stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the office supplies in the holder. last 20 steps: 1- put markers in the stand 2- put orange marker in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- put marker in stand 2- Put the clip in the holder 3- Move the clip backward 4- put clip in stand 5- put tape box in the stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put marker in stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput marker in stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the office supplies in the holder. last 20 steps: 1- put markers in the stand 2- put orange marker in the stand Q: immediate next step? \u003cPRED\u003eA: put marker in stand\n\u003c/PRED\u003e","video":"16673230254821348779.mp4"}
+{"uid":"16502000375807400595","text":"\u003ctask:success:discrete:False\u003e\nPut the clip in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the clip in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the office supplies in the holder. last 20 steps: 1- put markers in the stand 2- put orange marker in the stand 3- put green marker in the black stand 4- Put the clip in the holder 5- Move the clip backward Q: immediate next step? \u003cPRED\u003eA: Put the clip in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the office supplies in the holder. Q: immediate next step? \u003cPRED\u003eA: Put the clip in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the clip in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the clip in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the office supplies in the holder. last 20 steps: 1- put markers in the stand 2- put orange marker in the stand 3- put green marker in the black stand 4- Put the clip in the holder 5- Move the clip backward Q: next 5 steps? \u003cPRED\u003eA: 1- Put the clip in the holder 2- put tape box in the stand 3- Put the black gadget in the holder 4- done\n\u003c/PRED\u003e","video":"17929006111283066101.mp4"}
+{"uid":"8602658205114514509","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Get my water bottle and empty tupperware from my desk and place it in the sink Q: immediate next step? \u003cPRED\u003eA: pick up the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Get my water bottle and empty tupperware from my desk and place it in the sink. last 20 steps: 1- pick up the water bottle 2- place the water bottle in the sink Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the box 2- place the box in the sink 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Get my water bottle and empty tupperware from my desk and place it in the sink. last 20 steps: 1- pick up the water bottle 2- place the water bottle in the sink Q: immediate next step? \u003cPRED\u003eA: pick up the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the box\n\u003c/PRED\u003e","video":"8434049627602000800.mp4"}
+{"uid":"6126879625440845692","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the yellow pear on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4342333841664497554.mp4"}
+{"uid":"5233099606429300937","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put marker in stand\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput marker in stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13097364290487142577.mp4"}
+{"uid":"11702765836305417666","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the blue marker in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9857280982876049357.mp4"}
+{"uid":"16504304371149523266","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put orange marker in the stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the office supplies in the holder. last 20 steps: 1- put markers in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- put orange marker in the stand 2- put green marker in the black stand 3- Put the clip in the holder 4- Move the clip backward 5- put clip in stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the office supplies in the holder. Q: immediate next step? \u003cPRED\u003eA: put orange marker in the stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the office supplies in the holder. last 20 steps: 1- put markers in the stand Q: immediate next step? \u003cPRED\u003eA: put orange marker in the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput orange marker in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put orange marker in the stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput orange marker in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"720935420886442712.mp4"}
+{"uid":"394916275738529667","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick the pen stand from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9486614230511269957.mp4"}
+{"uid":"18327505299218840318","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the white packets in the glass tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16816356690439660066.mp4"}
+{"uid":"12810367288014720062","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput a pista into the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10374435802461365754.mp4"}
+{"uid":"16936475876609798585","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put orange marker in the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput orange marker in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11979691893808067985.mp4"}
+{"uid":"5243465154100126495","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the orange in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5750783762862742843.mp4"}
+{"uid":"7001692907678090412","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the green box in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the green box in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the office supplies in the holder. last 20 steps: 1- put markers in the stand 2- put orange marker in the stand 3- put green marker in the black stand 4- Put the clip in the holder 5- Move the clip backward 6- put clip in stand Q: immediate next step? \u003cPRED\u003eA: Put the green box in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the office supplies in the holder. last 20 steps: 1- put markers in the stand 2- put orange marker in the stand 3- put green marker in the black stand 4- Put the clip in the holder 5- Move the clip backward 6- put clip in stand Q: next 5 steps? \u003cPRED\u003eA: 1- Put the green box in the holder 2- Put the black gadget in the holder 3- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the green box in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the office supplies in the holder. Q: immediate next step? \u003cPRED\u003eA: Put the green box in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the green box in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8251830180952536897.mp4"}
+{"uid":"6313253113564372704","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Get my water bottle and empty tupperware from my desk and place it in the sink. last 20 steps: 1- pick up the water bottle Q: next 5 steps? \u003cPRED\u003eA: 1- place the water bottle in the sink 2- pick up the box 3- place the box in the sink 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Get my water bottle and empty tupperware from my desk and place it in the sink. last 20 steps: 1- pick up the water bottle Q: immediate next step? \u003cPRED\u003eA: place the water bottle in the sink\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the water bottle in the sink Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Get my water bottle and empty tupperware from my desk and place it in the sink Q: immediate next step? \u003cPRED\u003eA: place the water bottle in the sink\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the water bottle in the sink\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the water bottle in the sink Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the water bottle in the sink\n\u003c/PRED\u003e","video":"5548967758896804586.mp4"}
+{"uid":"12340173884673320488","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the office supplies in the holder. last 20 steps: 1- put markers in the stand Q: immediate next step? \u003cPRED\u003eA: Put the orange marker in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the office supplies in the holder. last 20 steps: 1- put markers in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- Put the orange marker in the holder 2- put green marker in the black stand 3- Put the clip in the holder 4- Move the clip backward 5- put clip in stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the orange marker in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the orange marker in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the orange marker in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the office supplies in the holder. Q: immediate next step? \u003cPRED\u003eA: Put the orange marker in the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the orange marker in the holder\n\u003c/PRED\u003e","video":"16011934575018912276.mp4"}
+{"uid":"17315592662919152038","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove to the black book Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7834679446804323396.mp4"}
+{"uid":"17422568435737513612","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the office supplies in the holder. last 20 steps: 1- put markers in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- put marker in stand 2- put green marker in the black stand 3- Put the clip in the holder 4- Move the clip backward 5- put clip in stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put marker in stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the office supplies in the holder. Q: immediate next step? \u003cPRED\u003eA: put marker in stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput marker in stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the office supplies in the holder. last 20 steps: 1- put markers in the stand Q: immediate next step? \u003cPRED\u003eA: put marker in stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput marker in stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put marker in stand\n\u003c/PRED\u003e","video":"15709051061400067017.mp4"}
+{"uid":"14981004586604944598","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the office supplies in the holder. Q: immediate next step? \u003cPRED\u003eA: put clip in stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put clip in stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put clip in stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the office supplies in the holder. last 20 steps: 1- put markers in the stand 2- put orange marker in the stand 3- put green marker in the black stand 4- Put the clip in the holder 5- Move the clip backward Q: next 5 steps? \u003cPRED\u003eA: 1- put clip in stand 2- put tape box in the stand 3- Put the black gadget in the holder 4- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput clip in stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput clip in stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the office supplies in the holder. last 20 steps: 1- put markers in the stand 2- put orange marker in the stand 3- put green marker in the black stand 4- Put the clip in the holder 5- Move the clip backward Q: immediate next step? \u003cPRED\u003eA: put clip in stand\n\u003c/PRED\u003e","video":"1549568390762008391.mp4"}
+{"uid":"4016397874538943003","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the candy in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16914840915761633847.mp4"}
+{"uid":"822888931411429366","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the black gadget in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the office supplies in the holder. Q: immediate next step? \u003cPRED\u003eA: Put the black gadget in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the black gadget in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the office supplies in the holder. last 20 steps: 1- put markers in the stand 2- put orange marker in the stand 3- put green marker in the black stand 4- Put the clip in the holder 5- Move the clip backward 6- put clip in stand 7- put tape box in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- Put the black gadget in the holder 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the black gadget in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the black gadget in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the office supplies in the holder. last 20 steps: 1- put markers in the stand 2- put orange marker in the stand 3- put green marker in the black stand 4- Put the clip in the holder 5- Move the clip backward 6- put clip in stand 7- put tape box in the stand Q: immediate next step? \u003cPRED\u003eA: Put the black gadget in the holder\n\u003c/PRED\u003e","video":"1869561679324576512.mp4"}
+{"uid":"13534388176906925947","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput paper clip in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put paper clip in the stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put paper clip in the stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the office supplies in the holder. Q: immediate next step? \u003cPRED\u003eA: put paper clip in the stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the office supplies in the holder. last 20 steps: 1- put markers in the stand 2- put orange marker in the stand 3- put green marker in the black stand Q: immediate next step? \u003cPRED\u003eA: put paper clip in the stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the office supplies in the holder. last 20 steps: 1- put markers in the stand 2- put orange marker in the stand 3- put green marker in the black stand Q: next 5 steps? \u003cPRED\u003eA: 1- put paper clip in the stand 2- Move the clip backward 3- put clip in stand 4- put tape box in the stand 5- Put the black gadget in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput paper clip in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1359077807676856659.mp4"}
+{"uid":"12724658182396493327","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop knife into stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17790755176649081940.mp4"}
+{"uid":"17064304051240587081","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut blue pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17384623474565811594.mp4"}
+{"uid":"15853714877337101236","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the coke can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6144688593314967726.mp4"}
+{"uid":"8817237192475378773","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove the cart to corner of the room Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5353898512653324508.mp4"}
+{"uid":"2491802800489651043","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put blue pen in holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput blue pen in holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13092819796560606062.mp4"}
+{"uid":"5629349158854132422","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put blue pen in holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput blue pen in holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place all blue pens into one pen holder. Q: immediate next step? \u003cPRED\u003eA: put blue pen in holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put blue pen in holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place all blue pens into one pen holder. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put blue pen in holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput blue pen in holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place all blue pens into one pen holder. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put blue pen in holder 2- Place the blue pen into the holder 3- Place the blue pen into the holder 4- Place the blue pen into the holder 5- Place the blue pen into the holder\n\u003c/PRED\u003e","video":"4820603332244334610.mp4"}
+{"uid":"2361756219711286945","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the sticky notes in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11561948606966831012.mp4"}
+{"uid":"2520152341231931621","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace white packet in organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6444771497839132468.mp4"}
+{"uid":"12321844973876676056","text":"\u003ctask:success:discrete:True\u003e\nput blue pen in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put blue pen in the stand\n\u003c/PRED\u003e","video":"11316393713366541846.mp4"}
+{"uid":"11726989457904284247","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput apple on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14933251720799286945.mp4"}
+{"uid":"12724696123151164582","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the plastic knife on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17587512519905890770.mp4"}
+{"uid":"5737116351663256649","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put blue pen in the stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place all blue pens into one pen holder. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put blue pen in the stand 2- Place the blue pen into the holder 3- Place the blue pen into the holder 4- Place the blue pen into the holder 5- Place the blue pen into the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place all blue pens into one pen holder. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put blue pen in the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput blue pen in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput blue pen in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put blue pen in the stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place all blue pens into one pen holder. Q: immediate next step? \u003cPRED\u003eA: put blue pen in the stand\n\u003c/PRED\u003e","video":"13796349204467932970.mp4"}
+{"uid":"1216009807180543814","text":"\u003ctask:success:discrete:False\u003e\nput blue pen in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place all blue pens into one pen holder. last 20 steps: 1- Place the blue pen into the holder 2- Place the blue pen into the holder 3- Place the blue pen into the holder Q: immediate next step? \u003cPRED\u003eA: put blue pen in the stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place all blue pens into one pen holder. Q: immediate next step? \u003cPRED\u003eA: put blue pen in the stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place all blue pens into one pen holder. last 20 steps: 1- Place the blue pen into the holder 2- Place the blue pen into the holder 3- Place the blue pen into the holder Q: next 5 steps? \u003cPRED\u003eA: 1- put blue pen in the stand 2- Place the blue pen into the holder 3- put blue pen in the stand 4- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put blue pen in the stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput blue pen in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put blue pen in the stand\n\u003c/PRED\u003e","video":"6059175616178946312.mp4"}
+{"uid":"9649657040852208691","text":"\u003ctask:success:discrete:False\u003e\nPlace the blue pen into the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place all blue pens into one pen holder. last 20 steps: 1- Place the blue pen into the holder 2- Place the blue pen into the holder Q: immediate next step? \u003cPRED\u003eA: Place the blue pen into the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place all blue pens into one pen holder. last 20 steps: 1- Place the blue pen into the holder 2- Place the blue pen into the holder Q: next 5 steps? \u003cPRED\u003eA: 1- Place the blue pen into the holder 2- Place the blue pen into the holder 3- Place the blue pen into the holder 4- put blue pen in the stand 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the blue pen into the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the blue pen into the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the blue pen into the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place all blue pens into one pen holder. Q: immediate next step? \u003cPRED\u003eA: Place the blue pen into the holder\n\u003c/PRED\u003e","video":"10285123078963671516.mp4"}
+{"uid":"4754860409936991700","text":"\u003ctask:success:discrete:False\u003e\nput blue pen in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place all blue pens into one pen holder. Q: immediate next step? \u003cPRED\u003eA: put blue pen in the stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput blue pen in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put blue pen in the stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place all blue pens into one pen holder. last 20 steps: 1- Place the blue pen into the holder 2- Place the blue pen into the holder 3- Place the blue pen into the holder 4- Place the blue pen into the holder 5- Place the blue pen into the holder Q: next 5 steps? \u003cPRED\u003eA: 1- put blue pen in the stand 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place all blue pens into one pen holder. last 20 steps: 1- Place the blue pen into the holder 2- Place the blue pen into the holder 3- Place the blue pen into the holder 4- Place the blue pen into the holder 5- Place the blue pen into the holder Q: immediate next step? \u003cPRED\u003eA: put blue pen in the stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put blue pen in the stand\n\u003c/PRED\u003e","video":"7426119868865661771.mp4"}
+{"uid":"14754212586666533800","text":"\u003ctask:success:discrete:True\u003e\nPlace the blue pen into the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the blue pen into the holder\n\u003c/PRED\u003e","video":"13278135346556700678.mp4"}
+{"uid":"17841231306158877088","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put blue pen in holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place all blue pens into one pen holder. last 20 steps: 1- Place the blue pen into the holder 2- Place the blue pen into the holder 3- Place the blue pen into the holder 4- Place the blue pen into the holder 5- Place the blue pen into the holder 6- put blue pen in holder Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput blue pen in holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place all blue pens into one pen holder. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place all blue pens into one pen holder. last 20 steps: 1- Place the blue pen into the holder 2- Place the blue pen into the holder 3- Place the blue pen into the holder 4- Place the blue pen into the holder 5- Place the blue pen into the holder 6- put blue pen in holder Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"7213020172983401393.mp4"}
+{"uid":"15402793290655779404","text":"\u003ctask:success:discrete:True\u003e\nput blue pen in holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put blue pen in holder\n\u003c/PRED\u003e","video":"5602200915608219904.mp4"}
+{"uid":"12090558424505561857","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put blue pen in holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput blue pen in holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16376098059092727529.mp4"}
+{"uid":"14430490705828939738","text":"\u003ctask:success:discrete:False\u003e\nPlace the blue pen into the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the blue pen into the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the blue pen into the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place all blue pens into one pen holder. Q: immediate next step? \u003cPRED\u003eA: Place the blue pen into the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place all blue pens into one pen holder. last 20 steps: 1- Place the blue pen into the holder 2- Place the blue pen into the holder 3- Place the blue pen into the holder Q: next 5 steps? \u003cPRED\u003eA: 1- Place the blue pen into the holder 2- Place the blue pen into the holder 3- put blue pen in the stand 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place all blue pens into one pen holder. last 20 steps: 1- Place the blue pen into the holder 2- Place the blue pen into the holder 3- Place the blue pen into the holder Q: immediate next step? \u003cPRED\u003eA: Place the blue pen into the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the blue pen into the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7252426898483809635.mp4"}
+{"uid":"14608229224522352599","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the marker in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3924902642481337566.mp4"}
+{"uid":"10070397026743504499","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place all blue pens into one pen holder. last 20 steps: 1- Place the blue pen into the holder Q: next 5 steps? \u003cPRED\u003eA: 1- Place the blue pen into the holder 2- Place the blue pen into the holder 3- Place the blue pen into the holder 4- Place the blue pen into the holder 5- put blue pen in the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the blue pen into the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the blue pen into the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place all blue pens into one pen holder. last 20 steps: 1- Place the blue pen into the holder Q: immediate next step? \u003cPRED\u003eA: Place the blue pen into the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the blue pen into the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place all blue pens into one pen holder. Q: immediate next step? \u003cPRED\u003eA: Place the blue pen into the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the blue pen into the holder\n\u003c/PRED\u003e","video":"11412638230532306178.mp4"}
+{"uid":"3691674121237963890","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put blue pen in holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put blue pen in holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput blue pen in holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place all blue pens into one pen holder. last 20 steps: 1- Place the blue pen into the holder 2- Place the blue pen into the holder 3- Place the blue pen into the holder 4- Place the blue pen into the holder 5- Place the blue pen into the holder Q: next 5 steps? \u003cPRED\u003eA: 1- put blue pen in holder 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place all blue pens into one pen holder. last 20 steps: 1- Place the blue pen into the holder 2- Place the blue pen into the holder 3- Place the blue pen into the holder 4- Place the blue pen into the holder 5- Place the blue pen into the holder Q: immediate next step? \u003cPRED\u003eA: put blue pen in holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput blue pen in holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place all blue pens into one pen holder. Q: immediate next step? \u003cPRED\u003eA: put blue pen in holder\n\u003c/PRED\u003e","video":"2606022884062124954.mp4"}
+{"uid":"3500407003711333","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place all blue pens into one pen holder. last 20 steps: 1- Place the blue pen into the holder 2- Place the blue pen into the holder 3- Place the blue pen into the holder 4- Place the blue pen into the holder 5- Place the blue pen into the holder Q: next 5 steps? \u003cPRED\u003eA: 1- Place the blue pen into the holder 2- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the blue pen into the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the blue pen into the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place all blue pens into one pen holder. Q: immediate next step? \u003cPRED\u003eA: Place the blue pen into the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place all blue pens into one pen holder. last 20 steps: 1- Place the blue pen into the holder 2- Place the blue pen into the holder 3- Place the blue pen into the holder 4- Place the blue pen into the holder 5- Place the blue pen into the holder Q: immediate next step? \u003cPRED\u003eA: Place the blue pen into the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the blue pen into the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the blue pen into the holder\n\u003c/PRED\u003e","video":"4102112394502197975.mp4"}
+{"uid":"4226664501956435701","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place all blue pens into one pen holder. last 20 steps: 1- Place the blue pen into the holder 2- Place the blue pen into the holder 3- Place the blue pen into the holder 4- Place the blue pen into the holder 5- Place the blue pen into the holder 6- put blue pen in the stand Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput blue pen in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place all blue pens into one pen holder. last 20 steps: 1- Place the blue pen into the holder 2- Place the blue pen into the holder 3- Place the blue pen into the holder 4- Place the blue pen into the holder 5- Place the blue pen into the holder 6- put blue pen in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put blue pen in the stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place all blue pens into one pen holder. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"13589069004214794197.mp4"}
+{"uid":"10344894725080866070","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pistachio on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6952681774116928152.mp4"}
+{"uid":"18062484307126818950","text":"\u003ctask:success:discrete:False\u003e\nput blue pen in holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput blue pen in holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place all blue pens into one pen holder. last 20 steps: 1- Place the blue pen into the holder 2- Place the blue pen into the holder 3- Place the blue pen into the holder 4- Place the blue pen into the holder Q: immediate next step? \u003cPRED\u003eA: put blue pen in holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place all blue pens into one pen holder. last 20 steps: 1- Place the blue pen into the holder 2- Place the blue pen into the holder 3- Place the blue pen into the holder 4- Place the blue pen into the holder Q: next 5 steps? \u003cPRED\u003eA: 1- put blue pen in holder 2- put blue pen in the stand 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place all blue pens into one pen holder. Q: immediate next step? \u003cPRED\u003eA: put blue pen in holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put blue pen in holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put blue pen in holder\n\u003c/PRED\u003e","video":"16087533952690269935.mp4"}
+{"uid":"703031748165766341","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nkeep the pen in left side of pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1195508156248000483.mp4"}
+{"uid":"12429305985106628088","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: place all blue pens into one pen holder. Q: immediate next step? \u003cPRED\u003eA: put blue pen in the stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place all blue pens into one pen holder. last 20 steps: 1- Place the blue pen into the holder 2- Place the blue pen into the holder Q: next 5 steps? \u003cPRED\u003eA: 1- put blue pen in the stand 2- Place the blue pen into the holder 3- Place the blue pen into the holder 4- put blue pen in the stand 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput blue pen in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put blue pen in the stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put blue pen in the stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place all blue pens into one pen holder. last 20 steps: 1- Place the blue pen into the holder 2- Place the blue pen into the holder Q: immediate next step? \u003cPRED\u003eA: put blue pen in the stand\n\u003c/PRED\u003e","video":"1567934980437537290.mp4"}
+{"uid":"14369543307388207580","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the blue pen into the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the blue pen into the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8031741280999722215.mp4"}
+{"uid":"11387075454934108249","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the blue pen into the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the blue pen into the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7322962091020109822.mp4"}
+{"uid":"2219693255344574804","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place all blue pens into one pen holder. last 20 steps: 1- Place the blue pen into the holder Q: immediate next step? \u003cPRED\u003eA: put blue pen in holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput blue pen in holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put blue pen in holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place all blue pens into one pen holder. Q: immediate next step? \u003cPRED\u003eA: put blue pen in holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put blue pen in holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput blue pen in holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place all blue pens into one pen holder. last 20 steps: 1- Place the blue pen into the holder Q: next 5 steps? \u003cPRED\u003eA: 1- put blue pen in holder 2- Place the blue pen into the holder 3- Place the blue pen into the holder 4- Place the blue pen into the holder 5- put blue pen in the stand\n\u003c/PRED\u003e","video":"7255187530795200229.mp4"}
+{"uid":"15787226066211945579","text":"\u003ctask:success:discrete:True\u003e\nput blue pen in holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put blue pen in holder\n\u003c/PRED\u003e","video":"18105945301497626193.mp4"}
+{"uid":"3066950981872480729","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop pear into basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5465248822659039713.mp4"}
+{"uid":"772574690744121416","text":"\u003ctask:success:discrete:True\u003e\nput blue pen in holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put blue pen in holder\n\u003c/PRED\u003e","video":"12706153758824762786.mp4"}
+{"uid":"16467321408082457921","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place all blue pens into one pen holder. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Place the blue pen into the holder 2- Place the blue pen into the holder 3- Place the blue pen into the holder 4- Place the blue pen into the holder 5- Place the blue pen into the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the blue pen into the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the blue pen into the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place all blue pens into one pen holder. Q: immediate next step? \u003cPRED\u003eA: Place the blue pen into the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the blue pen into the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place all blue pens into one pen holder. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Place the blue pen into the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the blue pen into the holder\n\u003c/PRED\u003e","video":"16295576320121729782.mp4"}
+{"uid":"15877747706370227403","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove your arm right to the potted plaint Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11013406130547796097.mp4"}
+{"uid":"9967528461231787778","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop pen in a pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2558844066890315305.mp4"}
+{"uid":"2790623706610639135","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nArrange stick note in the container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1653615172355898846.mp4"}
+{"uid":"14496055477042790703","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the coke can inside the refrigerator Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10398284196783846050.mp4"}
+{"uid":"17223127376822146753","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the blue pen into the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the blue pen into the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place all blue pens into one pen holder. last 20 steps: 1- Place the blue pen into the holder 2- Place the blue pen into the holder 3- Place the blue pen into the holder 4- Place the blue pen into the holder Q: immediate next step? \u003cPRED\u003eA: Place the blue pen into the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the blue pen into the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the blue pen into the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place all blue pens into one pen holder. Q: immediate next step? \u003cPRED\u003eA: Place the blue pen into the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place all blue pens into one pen holder. last 20 steps: 1- Place the blue pen into the holder 2- Place the blue pen into the holder 3- Place the blue pen into the holder 4- Place the blue pen into the holder Q: next 5 steps? \u003cPRED\u003eA: 1- Place the blue pen into the holder 2- put blue pen in the stand 3- done\n\u003c/PRED\u003e","video":"1866426283974210955.mp4"}
+{"uid":"2119608386871235132","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: place all blue pens into one pen holder. Q: immediate next step? \u003cPRED\u003eA: put blue pen in the stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put blue pen in the stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place all blue pens into one pen holder. last 20 steps: 1- Place the blue pen into the holder Q: immediate next step? \u003cPRED\u003eA: put blue pen in the stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput blue pen in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput blue pen in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place all blue pens into one pen holder. last 20 steps: 1- Place the blue pen into the holder Q: next 5 steps? \u003cPRED\u003eA: 1- put blue pen in the stand 2- Place the blue pen into the holder 3- Place the blue pen into the holder 4- Place the blue pen into the holder 5- put blue pen in the stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put blue pen in the stand\n\u003c/PRED\u003e","video":"2850004880780312446.mp4"}
+{"uid":"6762492009843049688","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput a green packet inside the organizer box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9672946399544184135.mp4"}
+{"uid":"7285265149586949041","text":"\u003ctask:success:discrete:True\u003e\nput blue pen in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put blue pen in the stand\n\u003c/PRED\u003e","video":"3930569716693546621.mp4"}
+{"uid":"5796950245291127821","text":"\u003ctask:success:discrete:True\u003e\nPlace the blue pen into the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the blue pen into the holder\n\u003c/PRED\u003e","video":"3787664661137912598.mp4"}
+{"uid":"10083561443082130825","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput orange packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"538899659068611252.mp4"}
+{"uid":"7689712803616975530","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop pistachio nut into glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"174042606149920065.mp4"}
+{"uid":"12313170600861342189","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the instant oatmeal packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5150625848857708607.mp4"}
+{"uid":"2802863093286589457","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place all blue pens into one pen holder. last 20 steps: 1- Place the blue pen into the holder 2- Place the blue pen into the holder 3- Place the blue pen into the holder Q: next 5 steps? \u003cPRED\u003eA: 1- put blue pen in holder 2- Place the blue pen into the holder 3- put blue pen in the stand 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place all blue pens into one pen holder. last 20 steps: 1- Place the blue pen into the holder 2- Place the blue pen into the holder 3- Place the blue pen into the holder Q: immediate next step? \u003cPRED\u003eA: put blue pen in holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put blue pen in holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place all blue pens into one pen holder. Q: immediate next step? \u003cPRED\u003eA: put blue pen in holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put blue pen in holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput blue pen in holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput blue pen in holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8778186514642909120.mp4"}
+{"uid":"5636801913237925262","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput an apple in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2847051153010423454.mp4"}
+{"uid":"10684720993951068820","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put blue pen in the stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput blue pen in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place all blue pens into one pen holder. last 20 steps: 1- Place the blue pen into the holder 2- Place the blue pen into the holder 3- Place the blue pen into the holder 4- Place the blue pen into the holder Q: next 5 steps? \u003cPRED\u003eA: 1- put blue pen in the stand 2- put blue pen in the stand 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place all blue pens into one pen holder. Q: immediate next step? \u003cPRED\u003eA: put blue pen in the stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put blue pen in the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput blue pen in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place all blue pens into one pen holder. last 20 steps: 1- Place the blue pen into the holder 2- Place the blue pen into the holder 3- Place the blue pen into the holder 4- Place the blue pen into the holder Q: immediate next step? \u003cPRED\u003eA: put blue pen in the stand\n\u003c/PRED\u003e","video":"5562368822626000578.mp4"}
+{"uid":"5834280190217016196","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the green can in the fridge Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2379517683355770893.mp4"}
+{"uid":"7210474866422255817","text":"\u003ctask:success:discrete:True\u003e\nput blue pen in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put blue pen in the stand\n\u003c/PRED\u003e","video":"13450108766364221598.mp4"}
+{"uid":"1111775755950325818","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put blue pen in holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place all blue pens into one pen holder. last 20 steps: 1- Place the blue pen into the holder 2- Place the blue pen into the holder Q: immediate next step? \u003cPRED\u003eA: put blue pen in holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put blue pen in holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput blue pen in holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place all blue pens into one pen holder. Q: immediate next step? \u003cPRED\u003eA: put blue pen in holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput blue pen in holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place all blue pens into one pen holder. last 20 steps: 1- Place the blue pen into the holder 2- Place the blue pen into the holder Q: next 5 steps? \u003cPRED\u003eA: 1- put blue pen in holder 2- Place the blue pen into the holder 3- Place the blue pen into the holder 4- put blue pen in the stand 5- done\n\u003c/PRED\u003e","video":"4793969881797206192.mp4"}
+{"uid":"14643643915649480466","text":"\u003ctask:success:discrete:True\u003e\nput blue pen in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put blue pen in the stand\n\u003c/PRED\u003e","video":"3360169369148604.mp4"}
+{"uid":"6280848639723039259","text":"\u003ctask:success:discrete:True\u003e\nPlace the blue pen into the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the blue pen into the holder\n\u003c/PRED\u003e","video":"18157978860796762663.mp4"}
+{"uid":"13447937943068897579","text":"\u003ctask:success:discrete:True\u003e\nput blue pen in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put blue pen in the stand\n\u003c/PRED\u003e","video":"6191502982176854376.mp4"}
+{"uid":"6030412678961233540","text":"\u003ctask:success:discrete:True\u003e\nDraw heart symbol on the paper Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Draw heart symbol on the paper\n\u003c/PRED\u003e","video":"18122138907929232353.mp4"}
+{"uid":"16769378785380732295","text":"\u003ctask:success:discrete:True\u003e\nPickup the green marker on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Pickup the green marker on the table\n\u003c/PRED\u003e","video":"14218716528883564492.mp4"}
+{"uid":"11331135416038923835","text":"\u003ctask:success:discrete:False\u003e\nWrite on paper Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: draw on the paper Q: immediate next step? \u003cPRED\u003eA: Write on paper\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: draw on the paper. last 20 steps: 1- put the blue marker on the paper 2- Hold the marker 3- Pickup the blue marker on the table 4- Write on paper 5- Put the marker on the paper 6- Pickup the red marker on the table 7- Draw heart symbol on the paper 8- pick up the green marker Q: next 5 steps? \u003cPRED\u003eA: 1- Write on paper 2- Write on paper 3- Write on paper 4- Draw on paper 5- Write on paper\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nWrite on paper Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Write on paper\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Write on paper\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: draw on the paper. last 20 steps: 1- put the blue marker on the paper 2- Hold the marker 3- Pickup the blue marker on the table 4- Write on paper 5- Put the marker on the paper 6- Pickup the red marker on the table 7- Draw heart symbol on the paper 8- pick up the green marker Q: immediate next step? \u003cPRED\u003eA: Write on paper\n\u003c/PRED\u003e","video":"8276909141431013327.mp4"}
+{"uid":"7212238997755911622","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput candy in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5318357399791115592.mp4"}
+{"uid":"16776802869208535259","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Write something on the paper\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: draw on the paper. last 20 steps: 1- put the blue marker on the paper 2- Hold the marker 3- Pickup the blue marker on the table 4- Write on paper 5- Put the marker on the paper 6- Pickup the red marker on the table 7- Draw heart symbol on the paper 8- pick up the green marker 9- Draw on the paper 10- Write on paper 11- Write on paper 12- Draw on paper 13- Write on paper 14- Write something on the paper Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: draw on the paper. last 20 steps: 1- put the blue marker on the paper 2- Hold the marker 3- Pickup the blue marker on the table 4- Write on paper 5- Put the marker on the paper 6- Pickup the red marker on the table 7- Draw heart symbol on the paper 8- pick up the green marker 9- Draw on the paper 10- Write on paper 11- Write on paper 12- Draw on paper 13- Write on paper 14- Write something on the paper Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: draw on the paper Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nWrite something on the paper Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13797217592715154425.mp4"}
+{"uid":"8934094371877366452","text":"\u003ctask:success:discrete:True\u003e\nDraw on the paper Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Draw on the paper\n\u003c/PRED\u003e","video":"2536283573859661559.mp4"}
+{"uid":"4045902326469519786","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the yellow packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15926807585284931072.mp4"}
+{"uid":"3868909507270336518","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the pistachio into the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16882107768209108995.mp4"}
+{"uid":"10048758805728841346","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the blue cup on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3246453309659803942.mp4"}
+{"uid":"8369274655408360393","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: draw a line with blue marker on paper\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: draw a line with blue marker on paper\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: draw on the paper. last 20 steps: 1- put the blue marker on the paper Q: immediate next step? \u003cPRED\u003eA: draw a line with blue marker on paper\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndraw a line with blue marker on paper Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: draw on the paper Q: immediate next step? \u003cPRED\u003eA: draw a line with blue marker on paper\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndraw a line with blue marker on paper Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: draw on the paper. last 20 steps: 1- put the blue marker on the paper Q: next 5 steps? \u003cPRED\u003eA: 1- draw a line with blue marker on paper 2- Pickup the red marker on the table 3- Draw heart symbol on the paper 4- pick up the green marker 5- Draw on the paper\n\u003c/PRED\u003e","video":"9102242484375748125.mp4"}
+{"uid":"13524224613389287062","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: draw on the paper Q: immediate next step? \u003cPRED\u003eA: Pickup the blue marker on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pickup the blue marker on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: draw on the paper. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Pickup the blue marker on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: draw on the paper. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Pickup the blue marker on the table 2- Hold the marker 3- Pickup the blue marker on the table 4- Write on paper 5- Put the marker on the paper\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPickup the blue marker on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pickup the blue marker on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPickup the blue marker on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17214365511440814625.mp4"}
+{"uid":"15647725329890027778","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: draw on the paper. last 20 steps: 1- put the blue marker on the paper 2- Hold the marker 3- Pickup the blue marker on the table Q: immediate next step? \u003cPRED\u003eA: Draw a line on the paper\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: draw on the paper. last 20 steps: 1- put the blue marker on the paper 2- Hold the marker 3- Pickup the blue marker on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Draw a line on the paper 2- Pickup the red marker on the table 3- Draw heart symbol on the paper 4- pick up the green marker 5- Draw on the paper\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Draw a line on the paper\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDraw a line on the paper Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDraw a line on the paper Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: draw on the paper Q: immediate next step? \u003cPRED\u003eA: Draw a line on the paper\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Draw a line on the paper\n\u003c/PRED\u003e","video":"1290155570920802462.mp4"}
+{"uid":"2066386570441362162","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the alphabet tile forward Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16640502261018219565.mp4"}
+{"uid":"5786845416885856160","text":"\u003ctask:success:discrete:True\u003e\nWrite on paper Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Write on paper\n\u003c/PRED\u003e","video":"4402479446936497653.mp4"}
+{"uid":"17515451874104163010","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npush the trolley Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5653737277659891895.mp4"}
+{"uid":"11290689697048785735","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pickup the green marker on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: draw on the paper. last 20 steps: 1- put the blue marker on the paper 2- Hold the marker 3- Pickup the blue marker on the table 4- Write on paper 5- Put the marker on the paper 6- Pickup the red marker on the table 7- Draw heart symbol on the paper Q: next 5 steps? \u003cPRED\u003eA: 1- Pickup the green marker on the table 2- Draw on the paper 3- Write on paper 4- Write on paper 5- Draw on paper\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPickup the green marker on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pickup the green marker on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPickup the green marker on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: draw on the paper. last 20 steps: 1- put the blue marker on the paper 2- Hold the marker 3- Pickup the blue marker on the table 4- Write on paper 5- Put the marker on the paper 6- Pickup the red marker on the table 7- Draw heart symbol on the paper Q: immediate next step? \u003cPRED\u003eA: Pickup the green marker on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: draw on the paper Q: immediate next step? \u003cPRED\u003eA: Pickup the green marker on the table\n\u003c/PRED\u003e","video":"7919209181421846135.mp4"}
+{"uid":"11879723610397676635","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: draw on the paper. last 20 steps: 1- put the blue marker on the paper 2- Hold the marker 3- Pickup the blue marker on the table 4- Write on paper 5- Put the marker on the paper 6- Pickup the red marker on the table 7- Draw heart symbol on the paper 8- pick up the green marker 9- Draw on the paper Q: next 5 steps? \u003cPRED\u003eA: 1- Write on paper 2- Write on paper 3- Draw on paper 4- Write on paper 5- Write on paper\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: draw on the paper. last 20 steps: 1- put the blue marker on the paper 2- Hold the marker 3- Pickup the blue marker on the table 4- Write on paper 5- Put the marker on the paper 6- Pickup the red marker on the table 7- Draw heart symbol on the paper 8- pick up the green marker 9- Draw on the paper Q: immediate next step? \u003cPRED\u003eA: Write on paper\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Write on paper\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nWrite on paper Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: draw on the paper Q: immediate next step? \u003cPRED\u003eA: Write on paper\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Write on paper\n\u003c/PRED\u003e","video":"2012584715936086712.mp4"}
+{"uid":"18377175170887181616","text":"\u003ctask:success:discrete:True\u003e\npick up the green marker Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up the green marker\n\u003c/PRED\u003e","video":"4724414240385578375.mp4"}
+{"uid":"13225436038130175032","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Hole the marker\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nHole the marker Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3485500589757256568.mp4"}
+{"uid":"16381760933596487556","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput black pen in the right holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6437239071658691025.mp4"}
+{"uid":"14652160589088332353","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the cardboard box on the floor Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3510301486801653816.mp4"}
+{"uid":"3133129408549755789","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the redbull can in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10850941705553417569.mp4"}
+{"uid":"5005694914031363660","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: draw on the paper. last 20 steps: 1- put the blue marker on the paper 2- Hold the marker 3- Pickup the blue marker on the table 4- Write on paper 5- Put the marker on the paper 6- Pickup the red marker on the table 7- Draw heart symbol on the paper 8- pick up the green marker 9- Draw on the paper 10- Write on paper 11- Write on paper 12- Draw on paper 13- Write on paper 14- Write on paper Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: draw on the paper. last 20 steps: 1- put the blue marker on the paper 2- Hold the marker 3- Pickup the blue marker on the table 4- Write on paper 5- Put the marker on the paper 6- Pickup the red marker on the table 7- Draw heart symbol on the paper 8- pick up the green marker 9- Draw on the paper 10- Write on paper 11- Write on paper 12- Draw on paper 13- Write on paper 14- Write on paper Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nWrite on paper Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: draw on the paper Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Write on paper\n\u003c/PRED\u003e","video":"14973126710533465256.mp4"}
+{"uid":"8220686588385709582","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the black pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3059060545904699562.mp4"}
+{"uid":"4286918879334939639","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: draw on the paper Q: immediate next step? \u003cPRED\u003eA: Hold the marker\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: draw on the paper. last 20 steps: 1- put the blue marker on the paper Q: next 5 steps? \u003cPRED\u003eA: 1- Hold the marker 2- Pickup the blue marker on the table 3- Write on paper 4- Put the marker on the paper 5- Pickup the red marker on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nHold the marker Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nHold the marker Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Hold the marker\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: draw on the paper. last 20 steps: 1- put the blue marker on the paper Q: immediate next step? \u003cPRED\u003eA: Hold the marker\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Hold the marker\n\u003c/PRED\u003e","video":"11507296765302004423.mp4"}
+{"uid":"5684534537580311232","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the apple in the glass jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10746256789500622689.mp4"}
+{"uid":"7222184573948613991","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: draw a line with blue marker on paper\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndraw a line with blue marker on paper Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7031454540752859828.mp4"}
+{"uid":"44480563655557893","text":"\u003ctask:success:discrete:True\u003e\nDraw on paper Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Draw on paper\n\u003c/PRED\u003e","video":"10574885487750897696.mp4"}
+{"uid":"11533911602627186524","text":"\u003ctask:success:discrete:True\u003e\nDraw a line on the paper Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Draw a line on the paper\n\u003c/PRED\u003e","video":"14863474902094494228.mp4"}
+{"uid":"3561389148482892739","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: draw on the paper. last 20 steps: 1- put the blue marker on the paper 2- Hold the marker 3- Pickup the blue marker on the table 4- Write on paper 5- Put the marker on the paper 6- Pickup the red marker on the table 7- Draw heart symbol on the paper 8- pick up the green marker 9- Draw on the paper 10- Write on paper 11- Write on paper Q: immediate next step? \u003cPRED\u003eA: Draw on paper\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Draw on paper\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: draw on the paper. last 20 steps: 1- put the blue marker on the paper 2- Hold the marker 3- Pickup the blue marker on the table 4- Write on paper 5- Put the marker on the paper 6- Pickup the red marker on the table 7- Draw heart symbol on the paper 8- pick up the green marker 9- Draw on the paper 10- Write on paper 11- Write on paper Q: next 5 steps? \u003cPRED\u003eA: 1- Draw on paper 2- Write on paper 3- Write on paper 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Draw on paper\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDraw on paper Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: draw on the paper Q: immediate next step? \u003cPRED\u003eA: Draw on paper\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDraw on paper Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3843476734868393993.mp4"}
+{"uid":"16297954758377852740","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove towards the coat rack Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5194252365281284672.mp4"}
+{"uid":"4750290201812850390","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the blue pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6756204624589257612.mp4"}
+{"uid":"6401286240069432396","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the seventh chocolate in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10260004435783689874.mp4"}
+{"uid":"4542434105159154999","text":"\u003ctask:success:discrete:True\u003e\nWrite on paper Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Write on paper\n\u003c/PRED\u003e","video":"3670416996080259133.mp4"}
+{"uid":"16189902971328656570","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Draw heart symbol on the paper\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: draw on the paper Q: immediate next step? \u003cPRED\u003eA: Draw heart symbol on the paper\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: draw on the paper. last 20 steps: 1- put the blue marker on the paper 2- Hold the marker 3- Pickup the blue marker on the table 4- Write on paper 5- Put the marker on the paper 6- Pickup the red marker on the table Q: immediate next step? \u003cPRED\u003eA: Draw heart symbol on the paper\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDraw heart symbol on the paper Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDraw heart symbol on the paper Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: draw on the paper. last 20 steps: 1- put the blue marker on the paper 2- Hold the marker 3- Pickup the blue marker on the table 4- Write on paper 5- Put the marker on the paper 6- Pickup the red marker on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Draw heart symbol on the paper 2- pick up the green marker 3- Draw on the paper 4- Write on paper 5- Write on paper\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Draw heart symbol on the paper\n\u003c/PRED\u003e","video":"15690655191270729352.mp4"}
+{"uid":"12477266895526299088","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the lid on the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9920956628368155847.mp4"}
+{"uid":"8388125999375885359","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: draw on the paper Q: immediate next step? \u003cPRED\u003eA: Hold the pink marker\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nHold the pink marker Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nHold the pink marker Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Hold the pink marker\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: draw on the paper. last 20 steps: 1- put the blue marker on the paper 2- Hold the marker 3- Pickup the blue marker on the table 4- Write on paper 5- Put the marker on the paper Q: next 5 steps? \u003cPRED\u003eA: 1- Hold the pink marker 2- Draw heart symbol on the paper 3- pick up the green marker 4- Draw on the paper 5- Write on paper\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: draw on the paper. last 20 steps: 1- put the blue marker on the paper 2- Hold the marker 3- Pickup the blue marker on the table 4- Write on paper 5- Put the marker on the paper Q: immediate next step? \u003cPRED\u003eA: Hold the pink marker\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Hold the pink marker\n\u003c/PRED\u003e","video":"17488956477166336619.mp4"}
+{"uid":"614057675614268523","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: draw on the paper. last 20 steps: 1- put the blue marker on the paper 2- Hold the marker 3- Pickup the blue marker on the table 4- Write on paper 5- Put the marker on the paper 6- Pickup the red marker on the table Q: immediate next step? \u003cPRED\u003eA: Put the marker on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the marker on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the marker on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: draw on the paper. last 20 steps: 1- put the blue marker on the paper 2- Hold the marker 3- Pickup the blue marker on the table 4- Write on paper 5- Put the marker on the paper 6- Pickup the red marker on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the marker on the table 2- pick up the green marker 3- Draw on the paper 4- Write on paper 5- Write on paper\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the marker on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: draw on the paper Q: immediate next step? \u003cPRED\u003eA: Put the marker on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the marker on the table\n\u003c/PRED\u003e","video":"16157635647870395604.mp4"}
+{"uid":"17810017990500092659","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nDraw on paper Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDraw on paper Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Draw on paper\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Draw on paper\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: draw on the paper. last 20 steps: 1- put the blue marker on the paper 2- Hold the marker 3- Pickup the blue marker on the table 4- Write on paper 5- Put the marker on the paper 6- Pickup the red marker on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Draw on paper 2- pick up the green marker 3- Draw on the paper 4- Write on paper 5- Write on paper\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: draw on the paper Q: immediate next step? \u003cPRED\u003eA: Draw on paper\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: draw on the paper. last 20 steps: 1- put the blue marker on the paper 2- Hold the marker 3- Pickup the blue marker on the table 4- Write on paper 5- Put the marker on the paper 6- Pickup the red marker on the table Q: immediate next step? \u003cPRED\u003eA: Draw on paper\n\u003c/PRED\u003e","video":"6366880293926760001.mp4"}
+{"uid":"7043573390599933495","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut two fork in the penstand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18218788013204923023.mp4"}
+{"uid":"5744519893417249681","text":"\u003ctask:success:discrete:True\u003e\nput the blue marker on the paper Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the blue marker on the paper\n\u003c/PRED\u003e","video":"2282317511126038194.mp4"}
+{"uid":"4616974141650888678","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: draw on the paper. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put the blue marker on the paper 2- Hold the marker 3- Pickup the blue marker on the table 4- Write on paper 5- Put the marker on the paper\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the blue marker on the paper Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the blue marker on the paper\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: draw on the paper Q: immediate next step? \u003cPRED\u003eA: put the blue marker on the paper\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: draw on the paper. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put the blue marker on the paper\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the blue marker on the paper\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the blue marker on the paper Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12449894844056080023.mp4"}
+{"uid":"8517332985933176515","text":"\u003ctask:success:discrete:True\u003e\nHold the pink marker Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Hold the pink marker\n\u003c/PRED\u003e","video":"4257688171409042018.mp4"}
+{"uid":"15249737209474861486","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut pink packets in the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9098316924596158797.mp4"}
+{"uid":"12667343054734102604","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ngrasp the cap Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5541552826768375901.mp4"}
+{"uid":"7467393655428600911","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Pickup the red marker on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPickup the red marker on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16066253745888292605.mp4"}
+{"uid":"4442663234078141546","text":"\u003ctask:success:discrete:True\u003e\nHold the marker Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Hold the marker\n\u003c/PRED\u003e","video":"7670418049582725913.mp4"}
+{"uid":"12020103220591200522","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: draw on the paper. last 20 steps: 1- put the blue marker on the paper 2- Hold the marker 3- Pickup the blue marker on the table Q: immediate next step? \u003cPRED\u003eA: Write on paper\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: draw on the paper. last 20 steps: 1- put the blue marker on the paper 2- Hold the marker 3- Pickup the blue marker on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Write on paper 2- Put the marker on the paper 3- Pickup the red marker on the table 4- Draw heart symbol on the paper 5- pick up the green marker\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Write on paper\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: draw on the paper Q: immediate next step? \u003cPRED\u003eA: Write on paper\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Write on paper\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nWrite on paper Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nWrite on paper Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4399330836051815427.mp4"}
+{"uid":"7855039721024658907","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the orange in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12389839358574960443.mp4"}
+{"uid":"15257137364852454017","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: draw on the paper. last 20 steps: 1- put the blue marker on the paper 2- Hold the marker 3- Pickup the blue marker on the table 4- Write on paper 5- Put the marker on the paper 6- Pickup the red marker on the table 7- Draw heart symbol on the paper 8- pick up the green marker 9- Draw on the paper 10- Write on paper 11- Write on paper 12- Draw on paper 13- Write on paper Q: next 5 steps? \u003cPRED\u003eA: 1- Write something on the paper 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Write something on the paper\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Write something on the paper\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: draw on the paper Q: immediate next step? \u003cPRED\u003eA: Write something on the paper\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: draw on the paper. last 20 steps: 1- put the blue marker on the paper 2- Hold the marker 3- Pickup the blue marker on the table 4- Write on paper 5- Put the marker on the paper 6- Pickup the red marker on the table 7- Draw heart symbol on the paper 8- pick up the green marker 9- Draw on the paper 10- Write on paper 11- Write on paper 12- Draw on paper 13- Write on paper Q: immediate next step? \u003cPRED\u003eA: Write something on the paper\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nWrite something on the paper Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nWrite something on the paper Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8668053715301833046.mp4"}
+{"uid":"8704284807544292771","text":"\u003ctask:success:discrete:True\u003e\nWrite on paper Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Write on paper\n\u003c/PRED\u003e","video":"4732385547136193014.mp4"}
+{"uid":"4344957514502727101","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: draw on the paper Q: immediate next step? \u003cPRED\u003eA: Pickup the blue marker on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: draw on the paper. last 20 steps: 1- put the blue marker on the paper 2- Hold the marker Q: next 5 steps? \u003cPRED\u003eA: 1- Pickup the blue marker on the table 2- Write on paper 3- Put the marker on the paper 4- Pickup the red marker on the table 5- Draw heart symbol on the paper\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pickup the blue marker on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: draw on the paper. last 20 steps: 1- put the blue marker on the paper 2- Hold the marker Q: immediate next step? \u003cPRED\u003eA: Pickup the blue marker on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPickup the blue marker on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPickup the blue marker on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pickup the blue marker on the table\n\u003c/PRED\u003e","video":"11305618425488672422.mp4"}
+{"uid":"13127377452098660430","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the redbull can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3986596829147124549.mp4"}
+{"uid":"3011573399336173304","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the green marker\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: draw on the paper Q: immediate next step? \u003cPRED\u003eA: pick up the green marker\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the green marker Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the green marker\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the green marker Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: draw on the paper. last 20 steps: 1- put the blue marker on the paper 2- Hold the marker 3- Pickup the blue marker on the table 4- Write on paper 5- Put the marker on the paper 6- Pickup the red marker on the table 7- Draw heart symbol on the paper Q: immediate next step? \u003cPRED\u003eA: pick up the green marker\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: draw on the paper. last 20 steps: 1- put the blue marker on the paper 2- Hold the marker 3- Pickup the blue marker on the table 4- Write on paper 5- Put the marker on the paper 6- Pickup the red marker on the table 7- Draw heart symbol on the paper Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the green marker 2- Draw on the paper 3- Write on paper 4- Write on paper 5- Draw on paper\n\u003c/PRED\u003e","video":"16724186333326949523.mp4"}
+{"uid":"2862512837332590179","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nHole the marker Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nHole the marker Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: draw on the paper Q: immediate next step? \u003cPRED\u003eA: Hole the marker\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Hole the marker\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Hole the marker\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: draw on the paper. last 20 steps: 1- put the blue marker on the paper 2- Hold the marker 3- Pickup the blue marker on the table 4- Write on paper 5- Put the marker on the paper 6- Pickup the red marker on the table 7- Draw heart symbol on the paper Q: immediate next step? \u003cPRED\u003eA: Hole the marker\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: draw on the paper. last 20 steps: 1- put the blue marker on the paper 2- Hold the marker 3- Pickup the blue marker on the table 4- Write on paper 5- Put the marker on the paper 6- Pickup the red marker on the table 7- Draw heart symbol on the paper Q: next 5 steps? \u003cPRED\u003eA: 1- Hole the marker 2- Draw on the paper 3- Write on paper 4- Write on paper 5- Draw on paper\n\u003c/PRED\u003e","video":"1265991616465362455.mp4"}
+{"uid":"14454255331178562271","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the book on the book Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6655581641968476898.mp4"}
+{"uid":"15747176228444481446","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Draw on the paper\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: draw on the paper. last 20 steps: 1- put the blue marker on the paper 2- Hold the marker 3- Pickup the blue marker on the table 4- Write on paper 5- Put the marker on the paper 6- Pickup the red marker on the table 7- Draw heart symbol on the paper 8- pick up the green marker Q: next 5 steps? \u003cPRED\u003eA: 1- Draw on the paper 2- Write on paper 3- Write on paper 4- Draw on paper 5- Write on paper\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Draw on the paper\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: draw on the paper Q: immediate next step? \u003cPRED\u003eA: Draw on the paper\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDraw on the paper Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: draw on the paper. last 20 steps: 1- put the blue marker on the paper 2- Hold the marker 3- Pickup the blue marker on the table 4- Write on paper 5- Put the marker on the paper 6- Pickup the red marker on the table 7- Draw heart symbol on the paper 8- pick up the green marker Q: immediate next step? \u003cPRED\u003eA: Draw on the paper\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDraw on the paper Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10752400876544076918.mp4"}
+{"uid":"9132698256005318342","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\ndraw love symbol on paper with pink marker Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: draw on the paper. last 20 steps: 1- put the blue marker on the paper 2- Hold the marker 3- Pickup the blue marker on the table 4- Write on paper 5- Put the marker on the paper Q: next 5 steps? \u003cPRED\u003eA: 1- draw love symbol on paper with pink marker 2- pick up the green marker 3- Draw on the paper 4- Write on paper 5- Write on paper\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: draw love symbol on paper with pink marker\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: draw on the paper Q: immediate next step? \u003cPRED\u003eA: draw love symbol on paper with pink marker\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndraw love symbol on paper with pink marker Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: draw on the paper. last 20 steps: 1- put the blue marker on the paper 2- Hold the marker 3- Pickup the blue marker on the table 4- Write on paper 5- Put the marker on the paper Q: immediate next step? \u003cPRED\u003eA: draw love symbol on paper with pink marker\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: draw love symbol on paper with pink marker\n\u003c/PRED\u003e","video":"17668473837465817567.mp4"}
+{"uid":"2993632652576003421","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: draw on the paper Q: immediate next step? \u003cPRED\u003eA: Write on paper\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: draw on the paper. last 20 steps: 1- put the blue marker on the paper 2- Hold the marker 3- Pickup the blue marker on the table 4- Write on paper 5- Put the marker on the paper 6- Pickup the red marker on the table 7- Draw heart symbol on the paper 8- pick up the green marker 9- Draw on the paper 10- Write on paper Q: next 5 steps? \u003cPRED\u003eA: 1- Write on paper 2- Draw on paper 3- Write on paper 4- Write on paper 5- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nWrite on paper Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nWrite on paper Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: draw on the paper. last 20 steps: 1- put the blue marker on the paper 2- Hold the marker 3- Pickup the blue marker on the table 4- Write on paper 5- Put the marker on the paper 6- Pickup the red marker on the table 7- Draw heart symbol on the paper 8- pick up the green marker 9- Draw on the paper 10- Write on paper Q: immediate next step? \u003cPRED\u003eA: Write on paper\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Write on paper\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Write on paper\n\u003c/PRED\u003e","video":"15220381588191864446.mp4"}
+{"uid":"8915326814111408880","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Write on paper\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nWrite on paper Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5014715031771983316.mp4"}
+{"uid":"12445803928475531299","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the packet in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18063897418176244746.mp4"}
+{"uid":"13859099983429590819","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pickup the red marker on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPickup the red marker on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pickup the red marker on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: draw on the paper. last 20 steps: 1- put the blue marker on the paper 2- Hold the marker 3- Pickup the blue marker on the table 4- Write on paper 5- Put the marker on the paper Q: next 5 steps? \u003cPRED\u003eA: 1- Pickup the red marker on the table 2- Draw heart symbol on the paper 3- pick up the green marker 4- Draw on the paper 5- Write on paper\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: draw on the paper Q: immediate next step? \u003cPRED\u003eA: Pickup the red marker on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPickup the red marker on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: draw on the paper. last 20 steps: 1- put the blue marker on the paper 2- Hold the marker 3- Pickup the blue marker on the table 4- Write on paper 5- Put the marker on the paper Q: immediate next step? \u003cPRED\u003eA: Pickup the red marker on the table\n\u003c/PRED\u003e","video":"3973916493500654387.mp4"}
+{"uid":"5697666152823745084","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace yellow candy in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13345694622607961103.mp4"}
+{"uid":"7759662203197423074","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1150843521295172913.mp4"}
+{"uid":"9112972292090903416","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: draw on the paper. last 20 steps: 1- put the blue marker on the paper 2- Hold the marker 3- Pickup the blue marker on the table 4- Write on paper 5- Put the marker on the paper 6- Pickup the red marker on the table 7- Draw heart symbol on the paper 8- pick up the green marker 9- Draw on the paper 10- Write on paper 11- Write on paper 12- Draw on paper Q: immediate next step? \u003cPRED\u003eA: Write on paper\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: draw on the paper Q: immediate next step? \u003cPRED\u003eA: Write on paper\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: draw on the paper. last 20 steps: 1- put the blue marker on the paper 2- Hold the marker 3- Pickup the blue marker on the table 4- Write on paper 5- Put the marker on the paper 6- Pickup the red marker on the table 7- Draw heart symbol on the paper 8- pick up the green marker 9- Draw on the paper 10- Write on paper 11- Write on paper 12- Draw on paper Q: next 5 steps? \u003cPRED\u003eA: 1- Write on paper 2- Write on paper 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Write on paper\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Write on paper\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nWrite on paper Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nWrite on paper Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15360334855638070521.mp4"}
+{"uid":"12223295203137888500","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nUnstack the red glass from stack Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2132978378426018489.mp4"}
+{"uid":"1233404386335782273","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: draw on the paper. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Put the blue marker on the paper\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the blue marker on the paper Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the blue marker on the paper\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: draw on the paper. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Put the blue marker on the paper 2- Hold the marker 3- Pickup the blue marker on the table 4- Write on paper 5- Put the marker on the paper\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: draw on the paper Q: immediate next step? \u003cPRED\u003eA: Put the blue marker on the paper\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the blue marker on the paper\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the blue marker on the paper Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13538203981312232471.mp4"}
+{"uid":"14292975050142344752","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: draw on the paper. last 20 steps: 1- put the blue marker on the paper 2- Hold the marker 3- Pickup the blue marker on the table 4- Write on paper 5- Put the marker on the paper 6- Pickup the red marker on the table 7- Draw heart symbol on the paper 8- pick up the green marker 9- Draw on the paper 10- Write on paper 11- Write on paper 12- Draw on paper 13- Write on paper Q: immediate next step? \u003cPRED\u003eA: Write on paper\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: draw on the paper Q: immediate next step? \u003cPRED\u003eA: Write on paper\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: draw on the paper. last 20 steps: 1- put the blue marker on the paper 2- Hold the marker 3- Pickup the blue marker on the table 4- Write on paper 5- Put the marker on the paper 6- Pickup the red marker on the table 7- Draw heart symbol on the paper 8- pick up the green marker 9- Draw on the paper 10- Write on paper 11- Write on paper 12- Draw on paper 13- Write on paper Q: next 5 steps? \u003cPRED\u003eA: 1- Write on paper 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nWrite on paper Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Write on paper\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Write on paper\n\u003c/PRED\u003e","video":"2012178663536809012.mp4"}
+{"uid":"14004945128591963565","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Write on paper\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nWrite on paper Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5134106658210606625.mp4"}
+{"uid":"6658316420800333942","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the marker on the paper\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the marker on the paper Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3612747700040914263.mp4"}
+{"uid":"4355377051106721419","text":"\u003ctask:success:discrete:True\u003e\ndraw love symbol on paper with pink marker Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: draw love symbol on paper with pink marker\n\u003c/PRED\u003e","video":"13883035441092169745.mp4"}
+{"uid":"13318258675005709825","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the marker on the paper\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: draw on the paper Q: immediate next step? \u003cPRED\u003eA: Put the marker on the paper\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the marker on the paper\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: draw on the paper. last 20 steps: 1- put the blue marker on the paper 2- Hold the marker 3- Pickup the blue marker on the table 4- Write on paper Q: immediate next step? \u003cPRED\u003eA: Put the marker on the paper\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the marker on the paper Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the marker on the paper Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: draw on the paper. last 20 steps: 1- put the blue marker on the paper 2- Hold the marker 3- Pickup the blue marker on the table 4- Write on paper Q: next 5 steps? \u003cPRED\u003eA: 1- Put the marker on the paper 2- Pickup the red marker on the table 3- Draw heart symbol on the paper 4- pick up the green marker 5- Draw on the paper\n\u003c/PRED\u003e","video":"15060181779993153028.mp4"}
+{"uid":"5700215063983199141","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the apple on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5303925611251553742.mp4"}
+{"uid":"5060158300039604171","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick the paper bag put it into the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick the paper bag put it into the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please put some Epic gum into a paper snack baggie and deliver it to Sarah. last 20 steps: 1- Put paper bag on lower shelf 2- place the cap of the jar on the self 3- pick up scooper 4- Put gum in the paper bag 5- Put the spatula in the holder 6- Close jar 7- pick the paper bag put it into the table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please put some Epic gum into a paper snack baggie and deliver it to Sarah Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please put some Epic gum into a paper snack baggie and deliver it to Sarah. last 20 steps: 1- Put paper bag on lower shelf 2- place the cap of the jar on the self 3- pick up scooper 4- Put gum in the paper bag 5- Put the spatula in the holder 6- Close jar 7- pick the paper bag put it into the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"6341340854132427415.mp4"}
+{"uid":"11555807377365263350","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput orange candy in white tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14629496601257033255.mp4"}
+{"uid":"233345432223806262","text":"\u003ctask:success:discrete:True\u003e\nClose jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Close jar\n\u003c/PRED\u003e","video":"10383039464013358053.mp4"}
+{"uid":"611361576764804319","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the spoon into the holder close the lid\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the spoon into the holder close the lid Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7124053097385007752.mp4"}
+{"uid":"13832259939955384580","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put paper bag on upper shelf\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut paper bag on upper shelf Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please put some Epic gum into a paper snack baggie and deliver it to Sarah. last 20 steps: 1- Put paper bag on lower shelf 2- place the cap of the jar on the self 3- pick up scooper 4- Put gum in the paper bag 5- Put the spatula in the holder 6- Close jar Q: next 5 steps? \u003cPRED\u003eA: 1- Put paper bag on upper shelf 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please put some Epic gum into a paper snack baggie and deliver it to Sarah Q: immediate next step? \u003cPRED\u003eA: Put paper bag on upper shelf\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please put some Epic gum into a paper snack baggie and deliver it to Sarah. last 20 steps: 1- Put paper bag on lower shelf 2- place the cap of the jar on the self 3- pick up scooper 4- Put gum in the paper bag 5- Put the spatula in the holder 6- Close jar Q: immediate next step? \u003cPRED\u003eA: Put paper bag on upper shelf\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put paper bag on upper shelf\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut paper bag on upper shelf Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17564510171186245040.mp4"}
+{"uid":"17670651958882917875","text":"\u003ctask:success:discrete:True\u003e\nopen the lid put it on self Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: open the lid put it on self\n\u003c/PRED\u003e","video":"3114603441888216735.mp4"}
+{"uid":"3922476318838835583","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please put some Epic gum into a paper snack baggie and deliver it to Sarah. last 20 steps: 1- Put paper bag on lower shelf 2- place the cap of the jar on the self 3- pick up scooper 4- Put gum in the paper bag 5- Put the spatula in the holder 6- Close jar Q: immediate next step? \u003cPRED\u003eA: Put the paper bag on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please put some Epic gum into a paper snack baggie and deliver it to Sarah. last 20 steps: 1- Put paper bag on lower shelf 2- place the cap of the jar on the self 3- pick up scooper 4- Put gum in the paper bag 5- Put the spatula in the holder 6- Close jar Q: next 5 steps? \u003cPRED\u003eA: 1- Put the paper bag on the table 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the paper bag on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the paper bag on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please put some Epic gum into a paper snack baggie and deliver it to Sarah Q: immediate next step? \u003cPRED\u003eA: Put the paper bag on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the paper bag on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the paper bag on the table\n\u003c/PRED\u003e","video":"1844162974590228749.mp4"}
+{"uid":"10859278821670043352","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Please put some Epic gum into a paper snack baggie and deliver it to Sarah Q: immediate next step? \u003cPRED\u003eA: put the gums in the paper bag with spatula\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the gums in the paper bag with spatula Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please put some Epic gum into a paper snack baggie and deliver it to Sarah. last 20 steps: 1- Put paper bag on lower shelf 2- place the cap of the jar on the self Q: immediate next step? \u003cPRED\u003eA: put the gums in the paper bag with spatula\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the gums in the paper bag with spatula\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the gums in the paper bag with spatula\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the gums in the paper bag with spatula Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please put some Epic gum into a paper snack baggie and deliver it to Sarah. last 20 steps: 1- Put paper bag on lower shelf 2- place the cap of the jar on the self Q: next 5 steps? \u003cPRED\u003eA: 1- put the gums in the paper bag with spatula 2- Put the spatula in the holder 3- Close jar 4- Put the paper bag on the table 5- done\n\u003c/PRED\u003e","video":"10482900778152539900.mp4"}
+{"uid":"16834622355058297477","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the clock on the shelf\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the clock on the shelf Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the clock on the shelf\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please grab the robot clock off the shelf and wipe the dust down with a lysol than put it back on the shelf Q: immediate next step? \u003cPRED\u003eA: place the clock on the shelf\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please grab the robot clock off the shelf and wipe the dust down with a lysol than put it back on the shelf. last 20 steps: 1- place the clock on the table 2- pick up the wipe 3- clean the clock with the wipe 4- clean the clock with the wipe 5- place the wipe on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the clock on the shelf 2- arrange the clock 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please grab the robot clock off the shelf and wipe the dust down with a lysol than put it back on the shelf. last 20 steps: 1- place the clock on the table 2- pick up the wipe 3- clean the clock with the wipe 4- clean the clock with the wipe 5- place the wipe on the table Q: immediate next step? \u003cPRED\u003eA: place the clock on the shelf\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the clock on the shelf Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6779561401549641354.mp4"}
+{"uid":"13342193419477237236","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the sanitizer in the trolly Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12976233918778727270.mp4"}
+{"uid":"9759880376755967856","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove towards the right black pebble Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6221283991126444159.mp4"}
+{"uid":"18361419132477963263","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the bowl upright Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5942246270674477344.mp4"}
+{"uid":"8627612456453336495","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the paper bag on the table\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put paper bag on upper shelf\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please put some Epic gum into a paper snack baggie and deliver it to Sarah. last 20 steps: 1- Put paper bag on lower shelf 2- place the cap of the jar on the self 3- pick up scooper 4- Put gum in the paper bag 5- Put the spatula in the holder 6- Close jar 7- Put paper bag on upper shelf Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the paper bag on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please put some Epic gum into a paper snack baggie and deliver it to Sarah. last 20 steps: 1- Put paper bag on lower shelf 2- place the cap of the jar on the self 3- pick up scooper 4- Put gum in the paper bag 5- Put the spatula in the holder 6- Close jar 7- Put paper bag on upper shelf Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut paper bag on upper shelf Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please put some Epic gum into a paper snack baggie and deliver it to Sarah Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please put some Epic gum into a paper snack baggie and deliver it to Sarah. last 20 steps: 1- Put paper bag on lower shelf 2- place the cap of the jar on the self 3- pick up scooper 4- Put gum in the paper bag 5- Put the spatula in the holder 6- Close jar 7- Put the paper bag on the table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please put some Epic gum into a paper snack baggie and deliver it to Sarah. last 20 steps: 1- Put paper bag on lower shelf 2- place the cap of the jar on the self 3- pick up scooper 4- Put gum in the paper bag 5- Put the spatula in the holder 6- Close jar 7- Put the paper bag on the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please put some Epic gum into a paper snack baggie and deliver it to Sarah Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"12834075000008021455.mp4"}
+{"uid":"7244641466614801913","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the gums in the paper bag with spatula\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the gums in the paper bag with spatula Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1784637690638776400.mp4"}
+{"uid":"14936736756767550997","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut paper bag on lower shelf Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put paper bag on lower shelf\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut paper bag on lower shelf Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put paper bag on lower shelf\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please put some Epic gum into a paper snack baggie and deliver it to Sarah. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Put paper bag on lower shelf\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please put some Epic gum into a paper snack baggie and deliver it to Sarah Q: immediate next step? \u003cPRED\u003eA: Put paper bag on lower shelf\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please put some Epic gum into a paper snack baggie and deliver it to Sarah. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Put paper bag on lower shelf 2- place the cap of the jar on the self 3- pick up scooper 4- Put gum in the paper bag 5- Put the spatula in the holder\n\u003c/PRED\u003e","video":"7083846202662567315.mp4"}
+{"uid":"15223146078639412671","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Please grab the robot clock off the shelf and wipe the dust down with a lysol than put it back on the shelf Q: immediate next step? \u003cPRED\u003eA: clean the clock with the wipe\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please grab the robot clock off the shelf and wipe the dust down with a lysol than put it back on the shelf. last 20 steps: 1- place the clock on the table 2- pick up the wipe 3- clean the clock with the wipe Q: next 5 steps? \u003cPRED\u003eA: 1- clean the clock with the wipe 2- place the wipe on the table 3- place the clock on the shelf 4- arrange the clock 5- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: clean the clock with the wipe\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: clean the clock with the wipe\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please grab the robot clock off the shelf and wipe the dust down with a lysol than put it back on the shelf. last 20 steps: 1- place the clock on the table 2- pick up the wipe 3- clean the clock with the wipe Q: immediate next step? \u003cPRED\u003eA: clean the clock with the wipe\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nclean the clock with the wipe Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18214155751729212675.mp4"}
+{"uid":"3473578950920644255","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Grab the paper bag put it on the self\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please put some Epic gum into a paper snack baggie and deliver it to Sarah. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Grab the paper bag put it on the self 2- place the cap of the jar on the self 3- pick up scooper 4- Put gum in the paper bag 5- Put the spatula in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please put some Epic gum into a paper snack baggie and deliver it to Sarah. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Grab the paper bag put it on the self\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nGrab the paper bag put it on the self Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nGrab the paper bag put it on the self Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please put some Epic gum into a paper snack baggie and deliver it to Sarah Q: immediate next step? \u003cPRED\u003eA: Grab the paper bag put it on the self\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Grab the paper bag put it on the self\n\u003c/PRED\u003e","video":"1858196917370990683.mp4"}
+{"uid":"15143173640223010224","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the candy in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5134256387562851017.mp4"}
+{"uid":"4625252756662168341","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please put some Epic gum into a paper snack baggie and deliver it to Sarah. last 20 steps: 1- Put paper bag on lower shelf 2- place the cap of the jar on the self 3- pick up scooper Q: immediate next step? \u003cPRED\u003eA: Take the gems into the paper bag\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please put some Epic gum into a paper snack baggie and deliver it to Sarah. last 20 steps: 1- Put paper bag on lower shelf 2- place the cap of the jar on the self 3- pick up scooper Q: next 5 steps? \u003cPRED\u003eA: 1- Take the gems into the paper bag 2- Put the spatula in the holder 3- Close jar 4- Put the paper bag on the table 5- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Take the gems into the paper bag\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nTake the gems into the paper bag Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please put some Epic gum into a paper snack baggie and deliver it to Sarah Q: immediate next step? \u003cPRED\u003eA: Take the gems into the paper bag\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nTake the gems into the paper bag Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Take the gems into the paper bag\n\u003c/PRED\u003e","video":"5740928002452675304.mp4"}
+{"uid":"3379563898460787265","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pistachio into the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6700069038596038795.mp4"}
+{"uid":"2148915069808041554","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput packets in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8362654892077873767.mp4"}
+{"uid":"16596820365500322211","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick the green glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7282166035237038347.mp4"}
+{"uid":"6165100144868417722","text":"\u003ctask:success:discrete:True\u003e\nGrab the paper bag put it on the self Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Grab the paper bag put it on the self\n\u003c/PRED\u003e","video":"9999954155780263490.mp4"}
+{"uid":"13408390041057595270","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: clean the clock with the wipe\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nclean the clock with the wipe Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16705409534634289171.mp4"}
+{"uid":"14893658610686733523","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the chocolate in the brown bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13152269150826433878.mp4"}
+{"uid":"5403807271811325793","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: arrange the clock\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please grab the robot clock off the shelf and wipe the dust down with a lysol than put it back on the shelf. last 20 steps: 1- place the clock on the table 2- pick up the wipe 3- clean the clock with the wipe 4- clean the clock with the wipe 5- place the wipe on the table 6- place the clock on the shelf 7- arrange the clock Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\narrange the clock Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please grab the robot clock off the shelf and wipe the dust down with a lysol than put it back on the shelf. last 20 steps: 1- place the clock on the table 2- pick up the wipe 3- clean the clock with the wipe 4- clean the clock with the wipe 5- place the wipe on the table 6- place the clock on the shelf 7- arrange the clock Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please grab the robot clock off the shelf and wipe the dust down with a lysol than put it back on the shelf Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"16824057385481025822.mp4"}
+{"uid":"17814848745823913374","text":"\u003ctask:success:discrete:False\u003e\npick up scooper Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please put some Epic gum into a paper snack baggie and deliver it to Sarah Q: immediate next step? \u003cPRED\u003eA: pick up scooper\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up scooper\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up scooper Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up scooper\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please put some Epic gum into a paper snack baggie and deliver it to Sarah. last 20 steps: 1- Put paper bag on lower shelf 2- place the cap of the jar on the self Q: next 5 steps? \u003cPRED\u003eA: 1- pick up scooper 2- Put gum in the paper bag 3- Put the spatula in the holder 4- Close jar 5- Put the paper bag on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please put some Epic gum into a paper snack baggie and deliver it to Sarah. last 20 steps: 1- Put paper bag on lower shelf 2- place the cap of the jar on the self Q: immediate next step? \u003cPRED\u003eA: pick up scooper\n\u003c/PRED\u003e","video":"8119651559174136198.mp4"}
+{"uid":"1224059167029886198","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nadjust the silver packet in the glass tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"641585463404988209.mp4"}
+{"uid":"2127756352970885222","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9673290549081773689.mp4"}
+{"uid":"4099230258027734851","text":"\u003ctask:success:discrete:False\u003e\nput the spoon into the holder close the lid Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the spoon into the holder close the lid Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please put some Epic gum into a paper snack baggie and deliver it to Sarah. last 20 steps: 1- Put paper bag on lower shelf 2- place the cap of the jar on the self 3- pick up scooper 4- Put gum in the paper bag Q: next 5 steps? \u003cPRED\u003eA: 1- put the spoon into the holder close the lid 2- Put the paper bag on the table 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the spoon into the holder close the lid\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the spoon into the holder close the lid\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please put some Epic gum into a paper snack baggie and deliver it to Sarah. last 20 steps: 1- Put paper bag on lower shelf 2- place the cap of the jar on the self 3- pick up scooper 4- Put gum in the paper bag Q: immediate next step? \u003cPRED\u003eA: put the spoon into the holder close the lid\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please put some Epic gum into a paper snack baggie and deliver it to Sarah Q: immediate next step? \u003cPRED\u003eA: put the spoon into the holder close the lid\n\u003c/PRED\u003e","video":"12437627970768211929.mp4"}
+{"uid":"17975144756182317943","text":"\u003ctask:success:discrete:True\u003e\nOpen jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Open jar\n\u003c/PRED\u003e","video":"4769361944945470749.mp4"}
+{"uid":"3762067289341761437","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the orange packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2333520133975890515.mp4"}
+{"uid":"5144090965673653240","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the packet into the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16165586876996151530.mp4"}
+{"uid":"9130838999535043044","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the wipe on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please grab the robot clock off the shelf and wipe the dust down with a lysol than put it back on the shelf. last 20 steps: 1- place the clock on the table 2- pick up the wipe 3- clean the clock with the wipe 4- clean the clock with the wipe Q: next 5 steps? \u003cPRED\u003eA: 1- place the wipe on the table 2- place the clock on the shelf 3- arrange the clock 4- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the wipe on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: clean the clock with the wipe\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nclean the clock with the wipe Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the wipe on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please grab the robot clock off the shelf and wipe the dust down with a lysol than put it back on the shelf. last 20 steps: 1- place the clock on the table 2- pick up the wipe 3- clean the clock with the wipe 4- clean the clock with the wipe Q: immediate next step? \u003cPRED\u003eA: place the wipe on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please grab the robot clock off the shelf and wipe the dust down with a lysol than put it back on the shelf Q: immediate next step? \u003cPRED\u003eA: place the wipe on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the wipe on the table\n\u003c/PRED\u003e","video":"14769011178170283696.mp4"}
+{"uid":"13571559259800967812","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nRotate the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14344870478617086247.mp4"}
+{"uid":"98028828669415579","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the cap on the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the cap on the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3895403353974443280.mp4"}
+{"uid":"3646953433569417748","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the pistachio nut into the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2349007662652780662.mp4"}
+{"uid":"14632672397804333219","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Please put some Epic gum into a paper snack baggie and deliver it to Sarah Q: immediate next step? \u003cPRED\u003eA: Put gum in the paper bag\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put gum in the paper bag\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut gum in the paper bag Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut gum in the paper bag Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put gum in the paper bag\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please put some Epic gum into a paper snack baggie and deliver it to Sarah. last 20 steps: 1- Put paper bag on lower shelf 2- place the cap of the jar on the self 3- pick up scooper Q: next 5 steps? \u003cPRED\u003eA: 1- Put gum in the paper bag 2- Put the spatula in the holder 3- Close jar 4- Put the paper bag on the table 5- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please put some Epic gum into a paper snack baggie and deliver it to Sarah. last 20 steps: 1- Put paper bag on lower shelf 2- place the cap of the jar on the self 3- pick up scooper Q: immediate next step? \u003cPRED\u003eA: Put gum in the paper bag\n\u003c/PRED\u003e","video":"1152075846175250884.mp4"}
+{"uid":"1711806061470452062","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please put some Epic gum into a paper snack baggie and deliver it to Sarah. last 20 steps: 1- Put paper bag on lower shelf 2- place the cap of the jar on the self 3- pick up scooper 4- Put gum in the paper bag 5- Put the spatula in the holder 6- Close jar Q: immediate next step? \u003cPRED\u003eA: pick the paper bag put it into the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the paper bag put it into the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the paper bag put it into the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the paper bag put it into the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please put some Epic gum into a paper snack baggie and deliver it to Sarah Q: immediate next step? \u003cPRED\u003eA: pick the paper bag put it into the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please put some Epic gum into a paper snack baggie and deliver it to Sarah. last 20 steps: 1- Put paper bag on lower shelf 2- place the cap of the jar on the self 3- pick up scooper 4- Put gum in the paper bag 5- Put the spatula in the holder 6- Close jar Q: next 5 steps? \u003cPRED\u003eA: 1- pick the paper bag put it into the table 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the paper bag put it into the table\n\u003c/PRED\u003e","video":"4949899378099483463.mp4"}
+{"uid":"8516669717900952835","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the paper bag in the self\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the paper bag in the self\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please put some Epic gum into a paper snack baggie and deliver it to Sarah. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Put the paper bag in the self 2- place the cap of the jar on the self 3- pick up scooper 4- Put gum in the paper bag 5- Put the spatula in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please put some Epic gum into a paper snack baggie and deliver it to Sarah. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Put the paper bag in the self\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the paper bag in the self Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please put some Epic gum into a paper snack baggie and deliver it to Sarah Q: immediate next step? \u003cPRED\u003eA: Put the paper bag in the self\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the paper bag in the self Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14245921163073703849.mp4"}
+{"uid":"15668799801895233127","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nclose the marker cap Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15329641462194254851.mp4"}
+{"uid":"12557821166437284943","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the spatula in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please put some Epic gum into a paper snack baggie and deliver it to Sarah Q: immediate next step? \u003cPRED\u003eA: Put the spatula in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the spatula in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the spatula in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please put some Epic gum into a paper snack baggie and deliver it to Sarah. last 20 steps: 1- Put paper bag on lower shelf 2- place the cap of the jar on the self 3- pick up scooper 4- Put gum in the paper bag Q: next 5 steps? \u003cPRED\u003eA: 1- Put the spatula in the holder 2- Close jar 3- Put the paper bag on the table 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please put some Epic gum into a paper snack baggie and deliver it to Sarah. last 20 steps: 1- Put paper bag on lower shelf 2- place the cap of the jar on the self 3- pick up scooper 4- Put gum in the paper bag Q: immediate next step? \u003cPRED\u003eA: Put the spatula in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the spatula in the holder\n\u003c/PRED\u003e","video":"6231407805151773974.mp4"}
+{"uid":"10036439428972610789","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Close jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nClose jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please put some Epic gum into a paper snack baggie and deliver it to Sarah Q: immediate next step? \u003cPRED\u003eA: Close jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please put some Epic gum into a paper snack baggie and deliver it to Sarah. last 20 steps: 1- Put paper bag on lower shelf 2- place the cap of the jar on the self 3- pick up scooper 4- Put gum in the paper bag 5- Put the spatula in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- Close jar 2- Put the paper bag on the table 3- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Close jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nClose jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please put some Epic gum into a paper snack baggie and deliver it to Sarah. last 20 steps: 1- Put paper bag on lower shelf 2- place the cap of the jar on the self 3- pick up scooper 4- Put gum in the paper bag 5- Put the spatula in the holder Q: immediate next step? \u003cPRED\u003eA: Close jar\n\u003c/PRED\u003e","video":"5324235731068497087.mp4"}
+{"uid":"13282626606770584171","text":"\u003ctask:success:discrete:True\u003e\nPut paper bag on lower shelf Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put paper bag on lower shelf\n\u003c/PRED\u003e","video":"655337090880014951.mp4"}
+{"uid":"2402154046351166613","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut white sugar packet in the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2775228786789318252.mp4"}
+{"uid":"15395010105483630057","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open the lid put it on self\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nopen the lid put it on self Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please put some Epic gum into a paper snack baggie and deliver it to Sarah Q: immediate next step? \u003cPRED\u003eA: open the lid put it on self\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open the lid put it on self\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please put some Epic gum into a paper snack baggie and deliver it to Sarah. last 20 steps: 1- Put paper bag on lower shelf Q: next 5 steps? \u003cPRED\u003eA: 1- open the lid put it on self 2- pick up scooper 3- Put gum in the paper bag 4- Put the spatula in the holder 5- Close jar\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please put some Epic gum into a paper snack baggie and deliver it to Sarah. last 20 steps: 1- Put paper bag on lower shelf Q: immediate next step? \u003cPRED\u003eA: open the lid put it on self\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nopen the lid put it on self Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6351829704774483584.mp4"}
+{"uid":"17236841860911522463","text":"\u003ctask:success:discrete:True\u003e\npick up scooper Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up scooper\n\u003c/PRED\u003e","video":"6921653752367485771.mp4"}
+{"uid":"8224393710376613441","text":"\u003ctask:success:discrete:True\u003e\nPut the paper bag in the self Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the paper bag in the self\n\u003c/PRED\u003e","video":"7496679352903678861.mp4"}
+{"uid":"13884196228433360328","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please grab the robot clock off the shelf and wipe the dust down with a lysol than put it back on the shelf. last 20 steps: 1- place the clock on the table 2- pick up the wipe Q: next 5 steps? \u003cPRED\u003eA: 1- clean the clock with the wipe 2- clean the clock with the wipe 3- place the wipe on the table 4- place the clock on the shelf 5- arrange the clock\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: clean the clock with the wipe\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nclean the clock with the wipe Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: clean the clock with the wipe\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please grab the robot clock off the shelf and wipe the dust down with a lysol than put it back on the shelf Q: immediate next step? \u003cPRED\u003eA: clean the clock with the wipe\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nclean the clock with the wipe Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please grab the robot clock off the shelf and wipe the dust down with a lysol than put it back on the shelf. last 20 steps: 1- place the clock on the table 2- pick up the wipe Q: immediate next step? \u003cPRED\u003eA: clean the clock with the wipe\n\u003c/PRED\u003e","video":"17148166292574204970.mp4"}
+{"uid":"2325543690735013650","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nTake the bottle near the gate Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15806068336511428114.mp4"}
+{"uid":"5807161081752059876","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput brown pen in stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1493390749820984128.mp4"}
+{"uid":"5674321079606576191","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick the blue can Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2698672784789869708.mp4"}
+{"uid":"7618062652786850459","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put gum in the paper bag\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut gum in the paper bag Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13910607579582133777.mp4"}
+{"uid":"5471483600206795504","text":"\u003ctask:success:discrete:True\u003e\nGrab the spoon put it into a jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Grab the spoon put it into a jar\n\u003c/PRED\u003e","video":"12917174665342632147.mp4"}
+{"uid":"12402266408089160910","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the pear into the container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13175957778824995385.mp4"}
+{"uid":"8994857742384692970","text":"\u003ctask:success:discrete:True\u003e\nplace the clock on the shelf Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: arrange the clock\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please grab the robot clock off the shelf and wipe the dust down with a lysol than put it back on the shelf. last 20 steps: 1- place the clock on the table 2- pick up the wipe 3- clean the clock with the wipe 4- clean the clock with the wipe 5- place the wipe on the table 6- place the clock on the shelf Q: next 5 steps? \u003cPRED\u003eA: 1- arrange the clock 2- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\narrange the clock Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please grab the robot clock off the shelf and wipe the dust down with a lysol than put it back on the shelf Q: immediate next step? \u003cPRED\u003eA: arrange the clock\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\narrange the clock Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please grab the robot clock off the shelf and wipe the dust down with a lysol than put it back on the shelf. last 20 steps: 1- place the clock on the table 2- pick up the wipe 3- clean the clock with the wipe 4- clean the clock with the wipe 5- place the wipe on the table 6- place the clock on the shelf Q: immediate next step? \u003cPRED\u003eA: arrange the clock\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the clock on the shelf\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: arrange the clock\n\u003c/PRED\u003e","video":"5013068947415082724.mp4"}
+{"uid":"3983604491318387472","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove close to the shelf Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16154599259485276237.mp4"}
+{"uid":"13694665319449912692","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please put some Epic gum into a paper snack baggie and deliver it to Sarah. last 20 steps: 1- Put paper bag on lower shelf 2- place the cap of the jar on the self 3- pick up scooper 4- Put gum in the paper bag Q: next 5 steps? \u003cPRED\u003eA: 1- Put scooper in the glass 2- Close jar 3- Put the paper bag on the table 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put scooper in the glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut scooper in the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put scooper in the glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please put some Epic gum into a paper snack baggie and deliver it to Sarah. last 20 steps: 1- Put paper bag on lower shelf 2- place the cap of the jar on the self 3- pick up scooper 4- Put gum in the paper bag Q: immediate next step? \u003cPRED\u003eA: Put scooper in the glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut scooper in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please put some Epic gum into a paper snack baggie and deliver it to Sarah Q: immediate next step? \u003cPRED\u003eA: Put scooper in the glass\n\u003c/PRED\u003e","video":"11245269944525523109.mp4"}
+{"uid":"8451088117561175220","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Take the gems into the paper bag\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nTake the gems into the paper bag Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16706496174755849441.mp4"}
+{"uid":"14268271077129633503","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput packet on the packets Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12007215407382474086.mp4"}
+{"uid":"12534093560508591381","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Please put some Epic gum into a paper snack baggie and deliver it to Sarah Q: immediate next step? \u003cPRED\u003eA: Open jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nOpen jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please put some Epic gum into a paper snack baggie and deliver it to Sarah. last 20 steps: 1- Put paper bag on lower shelf Q: immediate next step? \u003cPRED\u003eA: Open jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nOpen jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Open jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Open jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please put some Epic gum into a paper snack baggie and deliver it to Sarah. last 20 steps: 1- Put paper bag on lower shelf Q: next 5 steps? \u003cPRED\u003eA: 1- Open jar 2- pick up scooper 3- Put gum in the paper bag 4- Put the spatula in the holder 5- Close jar\n\u003c/PRED\u003e","video":"16623244805510083063.mp4"}
+{"uid":"426699402983483256","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the clock on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the clock on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17519788147770218824.mp4"}
+{"uid":"15774254797945629172","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the cap of the jar on the self\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the cap of the jar on the self Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13221102769764350983.mp4"}
+{"uid":"476363067851836124","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please put some Epic gum into a paper snack baggie and deliver it to Sarah. last 20 steps: 1- Put paper bag on lower shelf 2- place the cap of the jar on the self Q: next 5 steps? \u003cPRED\u003eA: 1- Grab the spoon put it into a jar 2- Put the spatula in the holder 3- Close jar 4- Put the paper bag on the table 5- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Grab the spoon put it into a jar\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please put some Epic gum into a paper snack baggie and deliver it to Sarah. last 20 steps: 1- Put paper bag on lower shelf 2- place the cap of the jar on the self Q: immediate next step? \u003cPRED\u003eA: Grab the spoon put it into a jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nGrab the spoon put it into a jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nGrab the spoon put it into a jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please put some Epic gum into a paper snack baggie and deliver it to Sarah Q: immediate next step? \u003cPRED\u003eA: Grab the spoon put it into a jar\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Grab the spoon put it into a jar\n\u003c/PRED\u003e","video":"8574800709031303020.mp4"}
+{"uid":"3125595496937736931","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the pen on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11828058352864990145.mp4"}
+{"uid":"12577350312606727947","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the blue packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1464398529689003152.mp4"}
+{"uid":"8970405040010216130","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Please grab the robot clock off the shelf and wipe the dust down with a lysol than put it back on the shelf Q: immediate next step? \u003cPRED\u003eA: place the clock on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the clock on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the clock on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please grab the robot clock off the shelf and wipe the dust down with a lysol than put it back on the shelf. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place the clock on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the clock on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please grab the robot clock off the shelf and wipe the dust down with a lysol than put it back on the shelf. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place the clock on the table 2- pick up the wipe 3- clean the clock with the wipe 4- clean the clock with the wipe 5- place the wipe on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the clock on the table\n\u003c/PRED\u003e","video":"6991603854870696743.mp4"}
+{"uid":"15078123837706351057","text":"\u003ctask:success:discrete:False\u003e\nPut the cap on the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the cap on the jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please put some Epic gum into a paper snack baggie and deliver it to Sarah. last 20 steps: 1- Put paper bag on lower shelf 2- place the cap of the jar on the self 3- pick up scooper 4- Put gum in the paper bag 5- Put the spatula in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- Put the cap on the jar 2- Put the paper bag on the table 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the cap on the jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the cap on the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please put some Epic gum into a paper snack baggie and deliver it to Sarah Q: immediate next step? \u003cPRED\u003eA: Put the cap on the jar\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please put some Epic gum into a paper snack baggie and deliver it to Sarah. last 20 steps: 1- Put paper bag on lower shelf 2- place the cap of the jar on the self 3- pick up scooper 4- Put gum in the paper bag 5- Put the spatula in the holder Q: immediate next step? \u003cPRED\u003eA: Put the cap on the jar\n\u003c/PRED\u003e","video":"1248085577401215020.mp4"}
+{"uid":"10714133930359609640","text":"\u003ctask:success:discrete:False\u003e\nplace the cap of the jar on the self Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the cap of the jar on the self\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please put some Epic gum into a paper snack baggie and deliver it to Sarah. last 20 steps: 1- Put paper bag on lower shelf Q: next 5 steps? \u003cPRED\u003eA: 1- place the cap of the jar on the self 2- pick up scooper 3- Put gum in the paper bag 4- Put the spatula in the holder 5- Close jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please put some Epic gum into a paper snack baggie and deliver it to Sarah Q: immediate next step? \u003cPRED\u003eA: place the cap of the jar on the self\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the cap of the jar on the self Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the cap of the jar on the self\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please put some Epic gum into a paper snack baggie and deliver it to Sarah. last 20 steps: 1- Put paper bag on lower shelf Q: immediate next step? \u003cPRED\u003eA: place the cap of the jar on the self\n\u003c/PRED\u003e","video":"7771119736089689558.mp4"}
+{"uid":"16438898453997768554","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the yellow marker in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18018894947608267590.mp4"}
+{"uid":"17539193540876617927","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the wipe Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the wipe\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the wipe Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the wipe\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please grab the robot clock off the shelf and wipe the dust down with a lysol than put it back on the shelf Q: immediate next step? \u003cPRED\u003eA: pick up the wipe\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please grab the robot clock off the shelf and wipe the dust down with a lysol than put it back on the shelf. last 20 steps: 1- place the clock on the table Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the wipe 2- clean the clock with the wipe 3- clean the clock with the wipe 4- place the wipe on the table 5- place the clock on the shelf\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please grab the robot clock off the shelf and wipe the dust down with a lysol than put it back on the shelf. last 20 steps: 1- place the clock on the table Q: immediate next step? \u003cPRED\u003eA: pick up the wipe\n\u003c/PRED\u003e","video":"10406435247816255017.mp4"}
+{"uid":"7832711407558196611","text":"\u003ctask:success:discrete:False\u003e\nMove towards the right most cardboard box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move towards the right most cardboard box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move towards the right most cardboard box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove towards the right most cardboard box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away this empty box in the speed pak bin for me. last 20 steps: 1- open your grippers 2- Move the cardboard box to the left 3- drop the cardboard box on the floor 4- Move to the cardboard box on the floor 5- grab the brown box 6- pick up the brown box 7- Place the cartoon box on the table 8- Lift the cardboard box from the table 9- Move away from the table 10- Exit the room Q: immediate next step? \u003cPRED\u003eA: Move towards the right most cardboard box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please throw away this empty box in the speed pak bin for me Q: immediate next step? \u003cPRED\u003eA: Move towards the right most cardboard box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away this empty box in the speed pak bin for me. last 20 steps: 1- open your grippers 2- Move the cardboard box to the left 3- drop the cardboard box on the floor 4- Move to the cardboard box on the floor 5- grab the brown box 6- pick up the brown box 7- Place the cartoon box on the table 8- Lift the cardboard box from the table 9- Move away from the table 10- Exit the room Q: next 5 steps? \u003cPRED\u003eA: 1- Move towards the right most cardboard box 2- Drop the cardboard box 3- move back 4- done\n\u003c/PRED\u003e","video":"17678514933763359712.mp4"}
+{"uid":"1212052077560900374","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move to the speed pack box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nmove to the speed pack box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"593995455662119245.mp4"}
+{"uid":"993902460746330790","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14145770518635342548.mp4"}
+{"uid":"12826730073031623477","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away this empty box in the speed pak bin for me. last 20 steps: 1- open your grippers 2- Move the cardboard box to the left 3- drop the cardboard box on the floor 4- Move to the cardboard box on the floor Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the cardboard box 2- Place the cartoon box on the table 3- Lift the cardboard box from the table 4- Move away from the table 5- Exit the room\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the cardboard box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away this empty box in the speed pak bin for me. last 20 steps: 1- open your grippers 2- Move the cardboard box to the left 3- drop the cardboard box on the floor 4- Move to the cardboard box on the floor Q: immediate next step? \u003cPRED\u003eA: pick up the cardboard box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the cardboard box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the cardboard box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the cardboard box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please throw away this empty box in the speed pak bin for me Q: immediate next step? \u003cPRED\u003eA: pick up the cardboard box\n\u003c/PRED\u003e","video":"4506419538303124782.mp4"}
+{"uid":"11102775309866525615","text":"\u003ctask:success:discrete:True\u003e\nMove the cardboard box to the left Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Move the cardboard box to the left\n\u003c/PRED\u003e","video":"7624898488789933825.mp4"}
+{"uid":"13440688333050946939","text":"\u003ctask:success:discrete:True\u003e\npush the cardboard box off the desk Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: push the cardboard box off the desk\n\u003c/PRED\u003e","video":"16094281194843518842.mp4"}
+{"uid":"14400947773882162556","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away this empty box in the speed pak bin for me. last 20 steps: 1- open your grippers 2- Move the cardboard box to the left 3- drop the cardboard box on the floor 4- Move to the cardboard box on the floor 5- grab the brown box 6- pick up the brown box 7- Place the cartoon box on the table Q: immediate next step? \u003cPRED\u003eA: pick the brown box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the brown box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the brown box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away this empty box in the speed pak bin for me. last 20 steps: 1- open your grippers 2- Move the cardboard box to the left 3- drop the cardboard box on the floor 4- Move to the cardboard box on the floor 5- grab the brown box 6- pick up the brown box 7- Place the cartoon box on the table Q: next 5 steps? \u003cPRED\u003eA: 1- pick the brown box 2- Exit the room 3- Move towards the cardboard box 4- Move towards the right most cardboard box 5- Drop the cardboard box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please throw away this empty box in the speed pak bin for me Q: immediate next step? \u003cPRED\u003eA: pick the brown box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the brown box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the brown box\n\u003c/PRED\u003e","video":"7623084063641065704.mp4"}
+{"uid":"11621355329810931181","text":"\u003ctask:success:discrete:True\u003e\npick up the cardboard box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up the cardboard box\n\u003c/PRED\u003e","video":"13007169631567573394.mp4"}
+{"uid":"8561749675642078618","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nAdjust the metaverse Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6729663504090664230.mp4"}
+{"uid":"5657055222768821852","text":"\u003ctask:success:discrete:False\u003e\nmove to the cardboard box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away this empty box in the speed pak bin for me. last 20 steps: 1- open your grippers 2- Move the cardboard box to the left 3- drop the cardboard box on the floor Q: next 5 steps? \u003cPRED\u003eA: 1- move to the cardboard box 2- grab the brown box 3- pick up the brown box 4- Place the cartoon box on the table 5- Lift the cardboard box from the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move to the cardboard box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove to the cardboard box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move to the cardboard box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please throw away this empty box in the speed pak bin for me Q: immediate next step? \u003cPRED\u003eA: move to the cardboard box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away this empty box in the speed pak bin for me. last 20 steps: 1- open your grippers 2- Move the cardboard box to the left 3- drop the cardboard box on the floor Q: immediate next step? \u003cPRED\u003eA: move to the cardboard box\n\u003c/PRED\u003e","video":"16982624754088166958.mp4"}
+{"uid":"16426245860449559473","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the yellow packets into the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2665030812159981007.mp4"}
+{"uid":"3761920328418331928","text":"\u003ctask:success:discrete:True\u003e\nMove towards the cardboard box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Move towards the cardboard box\n\u003c/PRED\u003e","video":"2232532911732236554.mp4"}
+{"uid":"793675804124276645","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Pick up the cardboard box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPick up the cardboard box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3373880562688708371.mp4"}
+{"uid":"3383999284690134926","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3855683372062179978.mp4"}
+{"uid":"8077118595480116119","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please throw away this empty box in the speed pak bin for me Q: immediate next step? \u003cPRED\u003eA: Move slightly backward\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away this empty box in the speed pak bin for me. last 20 steps: 1- open your grippers 2- Move the cardboard box to the left 3- drop the cardboard box on the floor 4- Move to the cardboard box on the floor 5- grab the brown box 6- pick up the brown box 7- Place the cartoon box on the table 8- Lift the cardboard box from the table 9- Move away from the table 10- Exit the room 11- Move towards the cardboard box 12- Move towards the right most cardboard box 13- Drop the cardboard box Q: next 5 steps? \u003cPRED\u003eA: 1- Move slightly backward 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move slightly backward\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away this empty box in the speed pak bin for me. last 20 steps: 1- open your grippers 2- Move the cardboard box to the left 3- drop the cardboard box on the floor 4- Move to the cardboard box on the floor 5- grab the brown box 6- pick up the brown box 7- Place the cartoon box on the table 8- Lift the cardboard box from the table 9- Move away from the table 10- Exit the room 11- Move towards the cardboard box 12- Move towards the right most cardboard box 13- Drop the cardboard box Q: immediate next step? \u003cPRED\u003eA: Move slightly backward\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove slightly backward Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove slightly backward Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move slightly backward\n\u003c/PRED\u003e","video":"1740614275352139872.mp4"}
+{"uid":"15811436512853036075","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the pen on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12509024822242671598.mp4"}
+{"uid":"5054213662868411285","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nadjust the lids Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13284047579540061010.mp4"}
+{"uid":"929557519999118120","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up the cardboard box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick up the cardboard box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17625404461107424413.mp4"}
+{"uid":"18257217435343105971","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Release the cartoon box in the cardboard box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away this empty box in the speed pak bin for me. last 20 steps: 1- open your grippers 2- Move the cardboard box to the left 3- drop the cardboard box on the floor 4- Move to the cardboard box on the floor 5- grab the brown box 6- pick up the brown box 7- Place the cartoon box on the table 8- Lift the cardboard box from the table 9- Move away from the table 10- Exit the room 11- Move towards the cardboard box 12- Move towards the right most cardboard box Q: next 5 steps? \u003cPRED\u003eA: 1- Release the cartoon box in the cardboard box 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please throw away this empty box in the speed pak bin for me Q: immediate next step? \u003cPRED\u003eA: Release the cartoon box in the cardboard box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nRelease the cartoon box in the cardboard box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away this empty box in the speed pak bin for me. last 20 steps: 1- open your grippers 2- Move the cardboard box to the left 3- drop the cardboard box on the floor 4- Move to the cardboard box on the floor 5- grab the brown box 6- pick up the brown box 7- Place the cartoon box on the table 8- Lift the cardboard box from the table 9- Move away from the table 10- Exit the room 11- Move towards the cardboard box 12- Move towards the right most cardboard box Q: immediate next step? \u003cPRED\u003eA: Release the cartoon box in the cardboard box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Release the cartoon box in the cardboard box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nRelease the cartoon box in the cardboard box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1083497935463002534.mp4"}
+{"uid":"7652675406979878207","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: exit the room\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nexit the room Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17445043582897937022.mp4"}
+{"uid":"10313598040148804831","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove close to the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11565919369612898355.mp4"}
+{"uid":"7659977237435988947","text":"\u003ctask:success:discrete:False\u003e\nExit the room Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away this empty box in the speed pak bin for me. last 20 steps: 1- open your grippers 2- Move the cardboard box to the left 3- drop the cardboard box on the floor 4- Move to the cardboard box on the floor 5- grab the brown box 6- pick up the brown box 7- Place the cartoon box on the table 8- Lift the cardboard box from the table Q: immediate next step? \u003cPRED\u003eA: Exit the room\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Exit the room\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Exit the room\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nExit the room Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please throw away this empty box in the speed pak bin for me Q: immediate next step? \u003cPRED\u003eA: Exit the room\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away this empty box in the speed pak bin for me. last 20 steps: 1- open your grippers 2- Move the cardboard box to the left 3- drop the cardboard box on the floor 4- Move to the cardboard box on the floor 5- grab the brown box 6- pick up the brown box 7- Place the cartoon box on the table 8- Lift the cardboard box from the table Q: next 5 steps? \u003cPRED\u003eA: 1- Exit the room 2- Move towards the right most cardboard box 3- Drop the cardboard box 4- move back 5- done\n\u003c/PRED\u003e","video":"13276754161239165026.mp4"}
+{"uid":"8491562734910296704","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove out of the room Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2736350062701278634.mp4"}
+{"uid":"9388788797404834773","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick the cardboard box on the floor\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick the cardboard box on the floor Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6130670804474083395.mp4"}
+{"uid":"12682542357666743717","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the cardboard box on the floor\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away this empty box in the speed pak bin for me. last 20 steps: 1- open your grippers 2- Move the cardboard box to the left 3- drop the cardboard box on the floor 4- Move to the cardboard box on the floor Q: next 5 steps? \u003cPRED\u003eA: 1- pick the cardboard box on the floor 2- Place the cartoon box on the table 3- Lift the cardboard box from the table 4- Move away from the table 5- Exit the room\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please throw away this empty box in the speed pak bin for me Q: immediate next step? \u003cPRED\u003eA: pick the cardboard box on the floor\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the cardboard box on the floor Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away this empty box in the speed pak bin for me. last 20 steps: 1- open your grippers 2- Move the cardboard box to the left 3- drop the cardboard box on the floor 4- Move to the cardboard box on the floor Q: immediate next step? \u003cPRED\u003eA: pick the cardboard box on the floor\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the cardboard box on the floor Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the cardboard box on the floor\n\u003c/PRED\u003e","video":"6876832247576008505.mp4"}
+{"uid":"6653905300076475362","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the green box in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8223574592503444862.mp4"}
+{"uid":"16388814371159527276","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move your arm close to the cardboard\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away this empty box in the speed pak bin for me. last 20 steps: 1- open your grippers 2- Move the cardboard box to the left 3- drop the cardboard box on the floor 4- Move to the cardboard box on the floor 5- grab the brown box 6- pick up the brown box 7- Place the cartoon box on the table 8- Lift the cardboard box from the table 9- Move away from the table 10- Exit the room Q: next 5 steps? \u003cPRED\u003eA: 1- move your arm close to the cardboard 2- Drop the cardboard box 3- move back 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove your arm close to the cardboard Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away this empty box in the speed pak bin for me. last 20 steps: 1- open your grippers 2- Move the cardboard box to the left 3- drop the cardboard box on the floor 4- Move to the cardboard box on the floor 5- grab the brown box 6- pick up the brown box 7- Place the cartoon box on the table 8- Lift the cardboard box from the table 9- Move away from the table 10- Exit the room Q: immediate next step? \u003cPRED\u003eA: move your arm close to the cardboard\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please throw away this empty box in the speed pak bin for me Q: immediate next step? \u003cPRED\u003eA: move your arm close to the cardboard\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove your arm close to the cardboard Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move your arm close to the cardboard\n\u003c/PRED\u003e","video":"11766956803117406333.mp4"}
+{"uid":"10313858100085737645","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away this empty box in the speed pak bin for me. last 20 steps: 1- open your grippers 2- Move the cardboard box to the left 3- drop the cardboard box on the floor 4- Move to the cardboard box on the floor 5- grab the brown box 6- pick up the brown box 7- Place the cartoon box on the table 8- Lift the cardboard box from the table 9- Move away from the table 10- Exit the room 11- Move towards the cardboard box 12- Move towards the right most cardboard box Q: next 5 steps? \u003cPRED\u003eA: 1- Drop the cardboard box 2- move back 3- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrop the cardboard box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away this empty box in the speed pak bin for me. last 20 steps: 1- open your grippers 2- Move the cardboard box to the left 3- drop the cardboard box on the floor 4- Move to the cardboard box on the floor 5- grab the brown box 6- pick up the brown box 7- Place the cartoon box on the table 8- Lift the cardboard box from the table 9- Move away from the table 10- Exit the room 11- Move towards the cardboard box 12- Move towards the right most cardboard box Q: immediate next step? \u003cPRED\u003eA: Drop the cardboard box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop the cardboard box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please throw away this empty box in the speed pak bin for me Q: immediate next step? \u003cPRED\u003eA: Drop the cardboard box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop the cardboard box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop the cardboard box\n\u003c/PRED\u003e","video":"18185350372856425955.mp4"}
+{"uid":"2549389588355830486","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move to the cardboard box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nmove to the cardboard box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13323538398021121265.mp4"}
+{"uid":"12107196035508498807","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Drop the cardboard box into the right speed pack cardboard box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nDrop the cardboard box into the right speed pack cardboard box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7685122962962206611.mp4"}
+{"uid":"11601111199643788149","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop the plastic lids in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5549158317884368384.mp4"}
+{"uid":"15852951909742093317","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the packet into the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3091002808983921453.mp4"}
+{"uid":"2294727442295733616","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the nacho packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15275392198756702806.mp4"}
+{"uid":"14221813020772446183","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away this empty box in the speed pak bin for me. last 20 steps: 1- open your grippers Q: immediate next step? \u003cPRED\u003eA: Move the cardboard box to the left\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move the cardboard box to the left\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove the cardboard box to the left Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove the cardboard box to the left Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away this empty box in the speed pak bin for me. last 20 steps: 1- open your grippers Q: next 5 steps? \u003cPRED\u003eA: 1- Move the cardboard box to the left 2- Move to the cardboard box on the floor 3- grab the brown box 4- pick up the brown box 5- Place the cartoon box on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move the cardboard box to the left\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please throw away this empty box in the speed pak bin for me Q: immediate next step? \u003cPRED\u003eA: Move the cardboard box to the left\n\u003c/PRED\u003e","video":"14439335696243769608.mp4"}
+{"uid":"37362835401183621","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the packet in the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17666210209033395337.mp4"}
+{"uid":"16343919528192392466","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Grab the cartoon box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nGrab the cartoon box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away this empty box in the speed pak bin for me. last 20 steps: 1- open your grippers 2- Move the cardboard box to the left 3- drop the cardboard box on the floor 4- Move to the cardboard box on the floor Q: immediate next step? \u003cPRED\u003eA: Grab the cartoon box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please throw away this empty box in the speed pak bin for me Q: immediate next step? \u003cPRED\u003eA: Grab the cartoon box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nGrab the cartoon box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Grab the cartoon box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away this empty box in the speed pak bin for me. last 20 steps: 1- open your grippers 2- Move the cardboard box to the left 3- drop the cardboard box on the floor 4- Move to the cardboard box on the floor Q: next 5 steps? \u003cPRED\u003eA: 1- Grab the cartoon box 2- Place the cartoon box on the table 3- Lift the cardboard box from the table 4- Move away from the table 5- Exit the room\n\u003c/PRED\u003e","video":"15799312801956756666.mp4"}
+{"uid":"8303107715733987105","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the green candy in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11041413053893978185.mp4"}
+{"uid":"6799705302011662170","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Push the the cardboard box slightly forward\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPush the the cardboard box slightly forward Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17638640556268598206.mp4"}
+{"uid":"8549443283743508952","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up the pen from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"769497414420114622.mp4"}
+{"uid":"15499480165362343975","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the cardboard box on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away this empty box in the speed pak bin for me. last 20 steps: 1- open your grippers 2- Move the cardboard box to the left 3- drop the cardboard box on the floor 4- Move to the cardboard box on the floor 5- grab the brown box Q: immediate next step? \u003cPRED\u003eA: place the cardboard box on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the cardboard box on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please throw away this empty box in the speed pak bin for me Q: immediate next step? \u003cPRED\u003eA: place the cardboard box on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the cardboard box on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the cardboard box on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away this empty box in the speed pak bin for me. last 20 steps: 1- open your grippers 2- Move the cardboard box to the left 3- drop the cardboard box on the floor 4- Move to the cardboard box on the floor 5- grab the brown box Q: next 5 steps? \u003cPRED\u003eA: 1- place the cardboard box on the table 2- Move away from the table 3- Exit the room 4- Move towards the cardboard box 5- Move towards the right most cardboard box\n\u003c/PRED\u003e","video":"15047953677279077761.mp4"}
+{"uid":"14874825951560429156","text":"\u003ctask:success:discrete:True\u003e\nExit the room Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Exit the room\n\u003c/PRED\u003e","video":"267940162491886861.mp4"}
+{"uid":"9757243719631820002","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the banana on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6350903789226010235.mp4"}
+{"uid":"10406860607802309761","text":"\u003ctask:success:discrete:True\u003e\nmove your arm close to the cardboard Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move your arm close to the cardboard\n\u003c/PRED\u003e","video":"12654042749577182306.mp4"}
+{"uid":"6652140180581318157","text":"\u003ctask:success:discrete:True\u003e\nGrab the cartoon box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Grab the cartoon box\n\u003c/PRED\u003e","video":"4861137080387087663.mp4"}
+{"uid":"6655244347341576128","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away this empty box in the speed pak bin for me. last 20 steps: 1- open your grippers 2- Move the cardboard box to the left 3- drop the cardboard box on the floor 4- Move to the cardboard box on the floor 5- grab the brown box 6- pick up the brown box Q: immediate next step? \u003cPRED\u003eA: Place the cartoon box on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the cartoon box on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away this empty box in the speed pak bin for me. last 20 steps: 1- open your grippers 2- Move the cardboard box to the left 3- drop the cardboard box on the floor 4- Move to the cardboard box on the floor 5- grab the brown box 6- pick up the brown box Q: next 5 steps? \u003cPRED\u003eA: 1- Place the cartoon box on the table 2- Move away from the table 3- Exit the room 4- Move towards the cardboard box 5- Move towards the right most cardboard box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the cartoon box on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the cartoon box on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please throw away this empty box in the speed pak bin for me Q: immediate next step? \u003cPRED\u003eA: Place the cartoon box on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the cartoon box on the table\n\u003c/PRED\u003e","video":"4323758731290415147.mp4"}
+{"uid":"4913409991773020163","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the brown box in the cardboard box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop the brown box in the cardboard box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16610700466493626107.mp4"}
+{"uid":"3255017450689083249","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move towards the cardboard box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove towards the cardboard box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove towards the cardboard box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away this empty box in the speed pak bin for me. last 20 steps: 1- open your grippers 2- Move the cardboard box to the left Q: immediate next step? \u003cPRED\u003eA: Move towards the cardboard box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move towards the cardboard box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away this empty box in the speed pak bin for me. last 20 steps: 1- open your grippers 2- Move the cardboard box to the left Q: next 5 steps? \u003cPRED\u003eA: 1- Move towards the cardboard box 2- grab the brown box 3- pick up the brown box 4- Place the cartoon box on the table 5- Lift the cardboard box from the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please throw away this empty box in the speed pak bin for me Q: immediate next step? \u003cPRED\u003eA: Move towards the cardboard box\n\u003c/PRED\u003e","video":"8298629668083766842.mp4"}
+{"uid":"3540529512906557041","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the banana on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8712199344076021596.mp4"}
+{"uid":"16536891468156337965","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput packet on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12582583071782944990.mp4"}
+{"uid":"2356658459506942016","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away this empty box in the speed pak bin for me. last 20 steps: 1- open your grippers Q: next 5 steps? \u003cPRED\u003eA: 1- push the cardboard box off the desk 2- Move to the cardboard box on the floor 3- grab the brown box 4- pick up the brown box 5- Place the cartoon box on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: push the cardboard box off the desk\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npush the cardboard box off the desk Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away this empty box in the speed pak bin for me. last 20 steps: 1- open your grippers Q: immediate next step? \u003cPRED\u003eA: push the cardboard box off the desk\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please throw away this empty box in the speed pak bin for me Q: immediate next step? \u003cPRED\u003eA: push the cardboard box off the desk\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npush the cardboard box off the desk Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: push the cardboard box off the desk\n\u003c/PRED\u003e","video":"1619647390836797200.mp4"}
+{"uid":"12305667890322393500","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please throw away this empty box in the speed pak bin for me Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away this empty box in the speed pak bin for me. last 20 steps: 1- open your grippers 2- Move the cardboard box to the left 3- drop the cardboard box on the floor 4- Move to the cardboard box on the floor 5- grab the brown box 6- pick up the brown box 7- Place the cartoon box on the table 8- Lift the cardboard box from the table 9- Move away from the table 10- Exit the room 11- Move towards the cardboard box 12- Move towards the right most cardboard box 13- Release the cartoon box in the cardboard box Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Release the cartoon box in the cardboard box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nRelease the cartoon box in the cardboard box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away this empty box in the speed pak bin for me. last 20 steps: 1- open your grippers 2- Move the cardboard box to the left 3- drop the cardboard box on the floor 4- Move to the cardboard box on the floor 5- grab the brown box 6- pick up the brown box 7- Place the cartoon box on the table 8- Lift the cardboard box from the table 9- Move away from the table 10- Exit the room 11- Move towards the cardboard box 12- Move towards the right most cardboard box 13- Release the cartoon box in the cardboard box Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"18089738682142166234.mp4"}
+{"uid":"5685812601036245735","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away this empty box in the speed pak bin for me. last 20 steps: 1- open your grippers 2- Move the cardboard box to the left 3- drop the cardboard box on the floor 4- Move to the cardboard box on the floor 5- grab the brown box Q: immediate next step? \u003cPRED\u003eA: place the cardboard box on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the cardboard box on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the cardboard box on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please throw away this empty box in the speed pak bin for me Q: immediate next step? \u003cPRED\u003eA: place the cardboard box on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the cardboard box on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the cardboard box on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away this empty box in the speed pak bin for me. last 20 steps: 1- open your grippers 2- Move the cardboard box to the left 3- drop the cardboard box on the floor 4- Move to the cardboard box on the floor 5- grab the brown box Q: next 5 steps? \u003cPRED\u003eA: 1- place the cardboard box on the table 2- Lift the cardboard box from the table 3- Move away from the table 4- Exit the room 5- Move towards the cardboard box\n\u003c/PRED\u003e","video":"11268019932102334415.mp4"}
+{"uid":"15896272685550647101","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nclose the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1379122891285658226.mp4"}
+{"uid":"18317949739476993282","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Exit the room\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away this empty box in the speed pak bin for me. last 20 steps: 1- open your grippers 2- Move the cardboard box to the left 3- drop the cardboard box on the floor 4- Move to the cardboard box on the floor 5- grab the brown box 6- pick up the brown box 7- Place the cartoon box on the table 8- Lift the cardboard box from the table 9- Move away from the table Q: next 5 steps? \u003cPRED\u003eA: 1- Exit the room 2- Move towards the right most cardboard box 3- Drop the cardboard box 4- move back 5- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Exit the room\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away this empty box in the speed pak bin for me. last 20 steps: 1- open your grippers 2- Move the cardboard box to the left 3- drop the cardboard box on the floor 4- Move to the cardboard box on the floor 5- grab the brown box 6- pick up the brown box 7- Place the cartoon box on the table 8- Lift the cardboard box from the table 9- Move away from the table Q: immediate next step? \u003cPRED\u003eA: Exit the room\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nExit the room Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please throw away this empty box in the speed pak bin for me Q: immediate next step? \u003cPRED\u003eA: Exit the room\n\u003c/PRED\u003e","video":"12161215125443666258.mp4"}
+{"uid":"6552988082129906996","text":"\u003ctask:success:discrete:True\u003e\nplace the cardboard box on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the cardboard box on the table\n\u003c/PRED\u003e","video":"5084010783437763648.mp4"}
+{"uid":"9022960928909096548","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Move to the cardboard box on the floor\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nMove to the cardboard box on the floor Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5854742507872546429.mp4"}
+{"uid":"8863111582324495829","text":"\u003ctask:success:discrete:False\u003e\nMove away from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move away from the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please throw away this empty box in the speed pak bin for me Q: immediate next step? \u003cPRED\u003eA: Move away from the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move away from the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away this empty box in the speed pak bin for me. last 20 steps: 1- open your grippers 2- Move the cardboard box to the left 3- drop the cardboard box on the floor 4- Move to the cardboard box on the floor 5- grab the brown box 6- pick up the brown box 7- Place the cartoon box on the table 8- Lift the cardboard box from the table Q: immediate next step? \u003cPRED\u003eA: Move away from the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away this empty box in the speed pak bin for me. last 20 steps: 1- open your grippers 2- Move the cardboard box to the left 3- drop the cardboard box on the floor 4- Move to the cardboard box on the floor 5- grab the brown box 6- pick up the brown box 7- Place the cartoon box on the table 8- Lift the cardboard box from the table Q: next 5 steps? \u003cPRED\u003eA: 1- Move away from the table 2- Exit the room 3- Move towards the cardboard box 4- Move towards the right most cardboard box 5- Drop the cardboard box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove away from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"144591651787407792.mp4"}
+{"uid":"77946557007417592","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move your arm close to the brown box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove your arm close to the brown box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away this empty box in the speed pak bin for me. last 20 steps: 1- open your grippers 2- Move the cardboard box to the left 3- drop the cardboard box on the floor Q: next 5 steps? \u003cPRED\u003eA: 1- move your arm close to the brown box 2- grab the brown box 3- pick up the brown box 4- Place the cartoon box on the table 5- Lift the cardboard box from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove your arm close to the brown box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away this empty box in the speed pak bin for me. last 20 steps: 1- open your grippers 2- Move the cardboard box to the left 3- drop the cardboard box on the floor Q: immediate next step? \u003cPRED\u003eA: move your arm close to the brown box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move your arm close to the brown box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please throw away this empty box in the speed pak bin for me Q: immediate next step? \u003cPRED\u003eA: move your arm close to the brown box\n\u003c/PRED\u003e","video":"16465651427667708730.mp4"}
+{"uid":"1231199803121499625","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove towards the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12099390147444038710.mp4"}
+{"uid":"8267186796039595067","text":"\u003ctask:success:discrete:True\u003e\nMove away from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Move away from the table\n\u003c/PRED\u003e","video":"9296445577026996479.mp4"}
+{"uid":"8349756031292895722","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nclose second drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6471091437606915693.mp4"}
+{"uid":"5965228537088754495","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput blue packet in stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10295358567252134828.mp4"}
+{"uid":"2993793616802918325","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the pen in the container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11342542164597159037.mp4"}
+{"uid":"5955354419478082943","text":"\u003ctask:success:discrete:False\u003e\nplace the brown box on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the brown box on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the brown box on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please throw away this empty box in the speed pak bin for me Q: immediate next step? \u003cPRED\u003eA: place the brown box on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the brown box on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away this empty box in the speed pak bin for me. last 20 steps: 1- open your grippers 2- Move the cardboard box to the left 3- drop the cardboard box on the floor 4- Move to the cardboard box on the floor 5- grab the brown box 6- pick up the brown box Q: next 5 steps? \u003cPRED\u003eA: 1- place the brown box on the table 2- Move away from the table 3- Exit the room 4- Move towards the cardboard box 5- Move towards the right most cardboard box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away this empty box in the speed pak bin for me. last 20 steps: 1- open your grippers 2- Move the cardboard box to the left 3- drop the cardboard box on the floor 4- Move to the cardboard box on the floor 5- grab the brown box 6- pick up the brown box Q: immediate next step? \u003cPRED\u003eA: place the brown box on the table\n\u003c/PRED\u003e","video":"13711807965625359854.mp4"}
+{"uid":"2295760891607311499","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drive forward\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrive forward Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please throw away this empty box in the speed pak bin for me Q: immediate next step? \u003cPRED\u003eA: Drive forward\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away this empty box in the speed pak bin for me. last 20 steps: 1- open your grippers 2- Move the cardboard box to the left 3- drop the cardboard box on the floor 4- Move to the cardboard box on the floor 5- grab the brown box 6- pick up the brown box 7- Place the cartoon box on the table 8- Lift the cardboard box from the table 9- Move away from the table 10- Exit the room Q: next 5 steps? \u003cPRED\u003eA: 1- Drive forward 2- Move towards the right most cardboard box 3- Drop the cardboard box 4- move back 5- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away this empty box in the speed pak bin for me. last 20 steps: 1- open your grippers 2- Move the cardboard box to the left 3- drop the cardboard box on the floor 4- Move to the cardboard box on the floor 5- grab the brown box 6- pick up the brown box 7- Place the cartoon box on the table 8- Lift the cardboard box from the table 9- Move away from the table 10- Exit the room Q: immediate next step? \u003cPRED\u003eA: Drive forward\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drive forward\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrive forward Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5563140913021737813.mp4"}
+{"uid":"2752826106195181227","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Move your arm close to the cardboard box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nMove your arm close to the cardboard box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6874319365495076268.mp4"}
+{"uid":"1125350448049761065","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Pick up the cartoon box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPick up the cartoon box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3516608730205563423.mp4"}
+{"uid":"3963483409936225111","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: grab the brown box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ngrab the brown box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11078049303567223972.mp4"}
+{"uid":"1639010223837220224","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5185278616930362191.mp4"}
+{"uid":"459459500166953226","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away this empty box in the speed pak bin for me. last 20 steps: 1- open your grippers 2- Move the cardboard box to the left 3- drop the cardboard box on the floor Q: immediate next step? \u003cPRED\u003eA: grab the brown box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: grab the brown box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ngrab the brown box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: grab the brown box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please throw away this empty box in the speed pak bin for me Q: immediate next step? \u003cPRED\u003eA: grab the brown box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away this empty box in the speed pak bin for me. last 20 steps: 1- open your grippers 2- Move the cardboard box to the left 3- drop the cardboard box on the floor Q: next 5 steps? \u003cPRED\u003eA: 1- grab the brown box 2- pick up the brown box 3- Place the cartoon box on the table 4- Lift the cardboard box from the table 5- Move away from the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ngrab the brown box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16330964735397481258.mp4"}
+{"uid":"15725417985416754766","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the cardboard box on the floor\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away this empty box in the speed pak bin for me. last 20 steps: 1- open your grippers Q: next 5 steps? \u003cPRED\u003eA: 1- drop the cardboard box on the floor 2- grab the brown box 3- pick up the brown box 4- Place the cartoon box on the table 5- Lift the cardboard box from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the cardboard box on the floor Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the cardboard box on the floor\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the cardboard box on the floor Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away this empty box in the speed pak bin for me. last 20 steps: 1- open your grippers Q: immediate next step? \u003cPRED\u003eA: drop the cardboard box on the floor\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please throw away this empty box in the speed pak bin for me Q: immediate next step? \u003cPRED\u003eA: drop the cardboard box on the floor\n\u003c/PRED\u003e","video":"17764476415482544267.mp4"}
+{"uid":"18280885851887326043","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the cardboard box on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the cardboard box on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please throw away this empty box in the speed pak bin for me Q: immediate next step? \u003cPRED\u003eA: Place the cardboard box on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the cardboard box on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away this empty box in the speed pak bin for me. last 20 steps: 1- open your grippers 2- Move the cardboard box to the left 3- drop the cardboard box on the floor 4- Move to the cardboard box on the floor 5- grab the brown box Q: next 5 steps? \u003cPRED\u003eA: 1- Place the cardboard box on the table 2- Lift the cardboard box from the table 3- Move away from the table 4- Exit the room 5- Move towards the cardboard box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the cardboard box on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away this empty box in the speed pak bin for me. last 20 steps: 1- open your grippers 2- Move the cardboard box to the left 3- drop the cardboard box on the floor 4- Move to the cardboard box on the floor 5- grab the brown box Q: immediate next step? \u003cPRED\u003eA: Place the cardboard box on the table\n\u003c/PRED\u003e","video":"18257767793769956367.mp4"}
+{"uid":"2857896112436522411","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the red packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12557599629584581753.mp4"}
+{"uid":"9202443795156242351","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away this empty box in the speed pak bin for me. last 20 steps: 1- open your grippers 2- Move the cardboard box to the left 3- drop the cardboard box on the floor 4- Move to the cardboard box on the floor 5- grab the brown box Q: immediate next step? \u003cPRED\u003eA: pick up the brown box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the brown box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please throw away this empty box in the speed pak bin for me Q: immediate next step? \u003cPRED\u003eA: pick up the brown box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the brown box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away this empty box in the speed pak bin for me. last 20 steps: 1- open your grippers 2- Move the cardboard box to the left 3- drop the cardboard box on the floor 4- Move to the cardboard box on the floor 5- grab the brown box Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the brown box 2- Place the cartoon box on the table 3- Lift the cardboard box from the table 4- Move away from the table 5- Exit the room\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the brown box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the brown box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2976115781748451046.mp4"}
+{"uid":"385866084320136048","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the cardboard box on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the cardboard box on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18242556417394041964.mp4"}
+{"uid":"16004086213005732907","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the pen in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15642083328540327768.mp4"}
+{"uid":"10714085889870195483","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pistachio in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15561884493207414795.mp4"}
+{"uid":"12898224178467066771","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Drive forward\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nDrive forward Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4962590613503707101.mp4"}
+{"uid":"3553743209139952429","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nSlightly move to the right Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4463621174472117265.mp4"}
+{"uid":"9337240001270612999","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace chair under the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1409934812650472293.mp4"}
+{"uid":"10211681681599832262","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop the brown object into the carton box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12906298276930980324.mp4"}
+{"uid":"3383753413828115523","text":"\u003ctask:success:discrete:False\u003e\npick up the cardboard box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the cardboard box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away this empty box in the speed pak bin for me. last 20 steps: 1- open your grippers 2- Move the cardboard box to the left 3- drop the cardboard box on the floor 4- Move to the cardboard box on the floor 5- grab the brown box 6- pick up the brown box 7- Place the cartoon box on the table Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the cardboard box 2- Exit the room 3- Move towards the cardboard box 4- Move towards the right most cardboard box 5- Drop the cardboard box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away this empty box in the speed pak bin for me. last 20 steps: 1- open your grippers 2- Move the cardboard box to the left 3- drop the cardboard box on the floor 4- Move to the cardboard box on the floor 5- grab the brown box 6- pick up the brown box 7- Place the cartoon box on the table Q: immediate next step? \u003cPRED\u003eA: pick up the cardboard box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please throw away this empty box in the speed pak bin for me Q: immediate next step? \u003cPRED\u003eA: pick up the cardboard box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the cardboard box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the cardboard box\n\u003c/PRED\u003e","video":"9889701184661719754.mp4"}
+{"uid":"8196999830204405309","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the cartoon box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away this empty box in the speed pak bin for me. last 20 steps: 1- open your grippers 2- Move the cardboard box to the left 3- drop the cardboard box on the floor 4- Move to the cardboard box on the floor 5- grab the brown box Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the cartoon box 2- Lift the cardboard box from the table 3- Move away from the table 4- Exit the room 5- Move towards the cardboard box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the cartoon box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away this empty box in the speed pak bin for me. last 20 steps: 1- open your grippers 2- Move the cardboard box to the left 3- drop the cardboard box on the floor 4- Move to the cardboard box on the floor 5- grab the brown box Q: immediate next step? \u003cPRED\u003eA: Pick up the cartoon box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please throw away this empty box in the speed pak bin for me Q: immediate next step? \u003cPRED\u003eA: Pick up the cartoon box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the cartoon box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the cartoon box\n\u003c/PRED\u003e","video":"16179954985173044383.mp4"}
+{"uid":"17137207174150407189","text":"\u003ctask:success:discrete:True\u003e\nDrop the cardboard box into the right side speed pack box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away this empty box in the speed pak bin for me. last 20 steps: 1- open your grippers 2- Move the cardboard box to the left 3- drop the cardboard box on the floor 4- Move to the cardboard box on the floor 5- grab the brown box 6- pick up the brown box 7- Place the cartoon box on the table 8- Lift the cardboard box from the table 9- Move away from the table 10- Exit the room 11- Move towards the cardboard box 12- Drop the cardboard box into the right side speed pack box Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Drop the cardboard box into the right side speed pack box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please throw away this empty box in the speed pak bin for me Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away this empty box in the speed pak bin for me. last 20 steps: 1- open your grippers 2- Move the cardboard box to the left 3- drop the cardboard box on the floor 4- Move to the cardboard box on the floor 5- grab the brown box 6- pick up the brown box 7- Place the cartoon box on the table 8- Lift the cardboard box from the table 9- Move away from the table 10- Exit the room 11- Move towards the cardboard box 12- Drop the cardboard box into the right side speed pack box Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"4980435796435534845.mp4"}
+{"uid":"664124764593997617","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the cardboard box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away this empty box in the speed pak bin for me. last 20 steps: 1- open your grippers 2- Move the cardboard box to the left 3- drop the cardboard box on the floor 4- Move to the cardboard box on the floor Q: immediate next step? \u003cPRED\u003eA: Pick up the cardboard box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away this empty box in the speed pak bin for me. last 20 steps: 1- open your grippers 2- Move the cardboard box to the left 3- drop the cardboard box on the floor 4- Move to the cardboard box on the floor Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the cardboard box 2- Place the cartoon box on the table 3- Lift the cardboard box from the table 4- Move away from the table 5- Exit the room\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the cardboard box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please throw away this empty box in the speed pak bin for me Q: immediate next step? \u003cPRED\u003eA: Pick up the cardboard box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the cardboard box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the cardboard box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"930289412711641490.mp4"}
+{"uid":"15089609957275159294","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput candy in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9496201358538137474.mp4"}
+{"uid":"6866863777445568550","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the pen on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1191341639117533261.mp4"}
+{"uid":"6996620035440082722","text":"\u003ctask:success:discrete:True\u003e\ndrop the cardboard box on the floor Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the cardboard box on the floor\n\u003c/PRED\u003e","video":"3105040321831163937.mp4"}
+{"uid":"15808208679990066570","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up the marker from the floor Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13821647505970095288.mp4"}
+{"uid":"12156114400127491809","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput white packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8721784985322403617.mp4"}
+{"uid":"6912663694757780370","text":"\u003ctask:success:discrete:True\u003e\npick up the brown box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up the brown box\n\u003c/PRED\u003e","video":"8792525319939548538.mp4"}
+{"uid":"7644116527790928368","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\narrange the tape in cupboard Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17492873679267485816.mp4"}
+{"uid":"11401993489951578218","text":"\u003ctask:success:discrete:False\u003e\nPush the cartoon box from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPush the cartoon box from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away this empty box in the speed pak bin for me. last 20 steps: 1- open your grippers Q: immediate next step? \u003cPRED\u003eA: Push the cartoon box from the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Push the cartoon box from the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please throw away this empty box in the speed pak bin for me Q: immediate next step? \u003cPRED\u003eA: Push the cartoon box from the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Push the cartoon box from the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away this empty box in the speed pak bin for me. last 20 steps: 1- open your grippers Q: next 5 steps? \u003cPRED\u003eA: 1- Push the cartoon box from the table 2- Move to the cardboard box on the floor 3- grab the brown box 4- pick up the brown box 5- Place the cartoon box on the table\n\u003c/PRED\u003e","video":"13701092474929480131.mp4"}
+{"uid":"2346650195789293000","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: exit the room\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away this empty box in the speed pak bin for me. last 20 steps: 1- open your grippers 2- Move the cardboard box to the left 3- drop the cardboard box on the floor 4- Move to the cardboard box on the floor 5- grab the brown box 6- pick up the brown box 7- Place the cartoon box on the table 8- Lift the cardboard box from the table Q: immediate next step? \u003cPRED\u003eA: exit the room\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: exit the room\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away this empty box in the speed pak bin for me. last 20 steps: 1- open your grippers 2- Move the cardboard box to the left 3- drop the cardboard box on the floor 4- Move to the cardboard box on the floor 5- grab the brown box 6- pick up the brown box 7- Place the cartoon box on the table 8- Lift the cardboard box from the table Q: next 5 steps? \u003cPRED\u003eA: 1- exit the room 2- Move towards the right most cardboard box 3- Drop the cardboard box 4- move back 5- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nexit the room Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nexit the room Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please throw away this empty box in the speed pak bin for me Q: immediate next step? \u003cPRED\u003eA: exit the room\n\u003c/PRED\u003e","video":"12322560289846129579.mp4"}
+{"uid":"10971460410249510842","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away this empty box in the speed pak bin for me. last 20 steps: 1- open your grippers 2- Move the cardboard box to the left 3- drop the cardboard box on the floor 4- Move to the cardboard box on the floor 5- grab the brown box 6- pick up the brown box 7- Place the cartoon box on the table 8- Lift the cardboard box from the table 9- Move away from the table Q: next 5 steps? \u003cPRED\u003eA: 1- Move towards the cardboard box 2- Drop the cardboard box 3- move back 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move towards the cardboard box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away this empty box in the speed pak bin for me. last 20 steps: 1- open your grippers 2- Move the cardboard box to the left 3- drop the cardboard box on the floor 4- Move to the cardboard box on the floor 5- grab the brown box 6- pick up the brown box 7- Place the cartoon box on the table 8- Lift the cardboard box from the table 9- Move away from the table Q: immediate next step? \u003cPRED\u003eA: Move towards the cardboard box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove towards the cardboard box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove towards the cardboard box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move towards the cardboard box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please throw away this empty box in the speed pak bin for me Q: immediate next step? \u003cPRED\u003eA: Move towards the cardboard box\n\u003c/PRED\u003e","video":"7785661134325475478.mp4"}
+{"uid":"2243399080634150484","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Push the cardboard box off the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Push the cardboard box off the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please throw away this empty box in the speed pak bin for me Q: immediate next step? \u003cPRED\u003eA: Push the cardboard box off the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPush the cardboard box off the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away this empty box in the speed pak bin for me. last 20 steps: 1- open your grippers 2- Move the cardboard box to the left Q: next 5 steps? \u003cPRED\u003eA: 1- Push the cardboard box off the table 2- Move to the cardboard box on the floor 3- grab the brown box 4- pick up the brown box 5- Place the cartoon box on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPush the cardboard box off the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away this empty box in the speed pak bin for me. last 20 steps: 1- open your grippers 2- Move the cardboard box to the left Q: immediate next step? \u003cPRED\u003eA: Push the cardboard box off the table\n\u003c/PRED\u003e","video":"15885769713463628484.mp4"}
+{"uid":"9004202646641727925","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away this empty box in the speed pak bin for me. last 20 steps: 1- open your grippers 2- Move the cardboard box to the left 3- drop the cardboard box on the floor 4- Move to the cardboard box on the floor 5- grab the brown box 6- pick up the brown box 7- Place the cartoon box on the table 8- Lift the cardboard box from the table Q: immediate next step? \u003cPRED\u003eA: Exit the room\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away this empty box in the speed pak bin for me. last 20 steps: 1- open your grippers 2- Move the cardboard box to the left 3- drop the cardboard box on the floor 4- Move to the cardboard box on the floor 5- grab the brown box 6- pick up the brown box 7- Place the cartoon box on the table 8- Lift the cardboard box from the table Q: next 5 steps? \u003cPRED\u003eA: 1- Exit the room 2- Move towards the right most cardboard box 3- Drop the cardboard box 4- move back 5- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Exit the room\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please throw away this empty box in the speed pak bin for me Q: immediate next step? \u003cPRED\u003eA: Exit the room\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nExit the room Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Exit the room\n\u003c/PRED\u003e","video":"1206911654109531060.mp4"}
+{"uid":"11038673916486720290","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move to the speed pack box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move to the speed pack box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove to the speed pack box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away this empty box in the speed pak bin for me. last 20 steps: 1- open your grippers 2- Move the cardboard box to the left 3- drop the cardboard box on the floor 4- Move to the cardboard box on the floor 5- grab the brown box 6- pick up the brown box 7- Place the cartoon box on the table 8- Lift the cardboard box from the table 9- Move away from the table 10- Exit the room Q: next 5 steps? \u003cPRED\u003eA: 1- move to the speed pack box 2- Drop the cardboard box 3- move back 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove to the speed pack box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away this empty box in the speed pak bin for me. last 20 steps: 1- open your grippers 2- Move the cardboard box to the left 3- drop the cardboard box on the floor 4- Move to the cardboard box on the floor 5- grab the brown box 6- pick up the brown box 7- Place the cartoon box on the table 8- Lift the cardboard box from the table 9- Move away from the table 10- Exit the room Q: immediate next step? \u003cPRED\u003eA: move to the speed pack box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please throw away this empty box in the speed pak bin for me Q: immediate next step? \u003cPRED\u003eA: move to the speed pack box\n\u003c/PRED\u003e","video":"10773842383208878110.mp4"}
+{"uid":"5458061709553081466","text":"\u003ctask:success:discrete:False\u003e\nMove your arm close to the cardboard box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move your arm close to the cardboard box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away this empty box in the speed pak bin for me. last 20 steps: 1- open your grippers 2- Move the cardboard box to the left 3- drop the cardboard box on the floor 4- Move to the cardboard box on the floor 5- grab the brown box 6- pick up the brown box 7- Place the cartoon box on the table 8- Lift the cardboard box from the table 9- Move away from the table 10- Exit the room Q: next 5 steps? \u003cPRED\u003eA: 1- Move your arm close to the cardboard box 2- move back 3- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move your arm close to the cardboard box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away this empty box in the speed pak bin for me. last 20 steps: 1- open your grippers 2- Move the cardboard box to the left 3- drop the cardboard box on the floor 4- Move to the cardboard box on the floor 5- grab the brown box 6- pick up the brown box 7- Place the cartoon box on the table 8- Lift the cardboard box from the table 9- Move away from the table 10- Exit the room Q: immediate next step? \u003cPRED\u003eA: Move your arm close to the cardboard box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove your arm close to the cardboard box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please throw away this empty box in the speed pak bin for me Q: immediate next step? \u003cPRED\u003eA: Move your arm close to the cardboard box\n\u003c/PRED\u003e","video":"10068291451737160856.mp4"}
+{"uid":"7875701118506562602","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput packet in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6113672581845632839.mp4"}
+{"uid":"13185812358391177175","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick the brown box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick the brown box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11644295077095141613.mp4"}
+{"uid":"10778473845799271767","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2452389100717533412.mp4"}
+{"uid":"4733460350532080751","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the apple in the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2800764554889247606.mp4"}
+{"uid":"14515666180841646071","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Pick up the cartoon box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPick up the cartoon box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16187403442559013805.mp4"}
+{"uid":"12082059755435771102","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the brown box on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the brown box on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8550674834464663413.mp4"}
+{"uid":"2742356562689571717","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nmove to the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move to the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away this empty box in the speed pak bin for me. last 20 steps: 1- open your grippers Q: immediate next step? \u003cPRED\u003eA: move to the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away this empty box in the speed pak bin for me. last 20 steps: 1- open your grippers Q: next 5 steps? \u003cPRED\u003eA: 1- move to the table 2- drop the cardboard box on the floor 3- Move to the cardboard box on the floor 4- grab the brown box 5- pick up the brown box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove to the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move to the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please throw away this empty box in the speed pak bin for me Q: immediate next step? \u003cPRED\u003eA: move to the table\n\u003c/PRED\u003e","video":"4697418729836924072.mp4"}
+{"uid":"4962571902741829735","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput candy on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1796965343393414214.mp4"}
+{"uid":"1810122246791753105","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move back\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove back Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away this empty box in the speed pak bin for me. last 20 steps: 1- open your grippers 2- Move the cardboard box to the left 3- drop the cardboard box on the floor 4- Move to the cardboard box on the floor 5- grab the brown box 6- pick up the brown box 7- Place the cartoon box on the table 8- Lift the cardboard box from the table 9- Move away from the table 10- Exit the room 11- Move towards the cardboard box 12- Move towards the right most cardboard box 13- Drop the cardboard box Q: immediate next step? \u003cPRED\u003eA: move back\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove back Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please throw away this empty box in the speed pak bin for me Q: immediate next step? \u003cPRED\u003eA: move back\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away this empty box in the speed pak bin for me. last 20 steps: 1- open your grippers 2- Move the cardboard box to the left 3- drop the cardboard box on the floor 4- Move to the cardboard box on the floor 5- grab the brown box 6- pick up the brown box 7- Place the cartoon box on the table 8- Lift the cardboard box from the table 9- Move away from the table 10- Exit the room 11- Move towards the cardboard box 12- Move towards the right most cardboard box 13- Drop the cardboard box Q: next 5 steps? \u003cPRED\u003eA: 1- move back 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move back\n\u003c/PRED\u003e","video":"11395427011302452543.mp4"}
+{"uid":"8365960656366278366","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace tape in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15399492790685893301.mp4"}
+{"uid":"15782369144616520105","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Pick up the cardboard box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPick up the cardboard box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17164674096200345352.mp4"}
+{"uid":"11269619901185244044","text":"\u003ctask:success:discrete:True\u003e\nplace the cardboard box on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the cardboard box on the table\n\u003c/PRED\u003e","video":"4318501087586753747.mp4"}
+{"uid":"5901234925543809181","text":"\u003ctask:success:discrete:True\u003e\nDrop the cardboard box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Drop the cardboard box\n\u003c/PRED\u003e","video":"12457047570189833749.mp4"}
+{"uid":"9912930895056431678","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Move towards the right most cardboard box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nMove towards the right most cardboard box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17540806597049260071.mp4"}
+{"uid":"3265150192462189531","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Exit the room\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nExit the room Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8328302143938424640.mp4"}
+{"uid":"1050196713604548189","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: exit the room\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nexit the room Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16731163881900812646.mp4"}
+{"uid":"2120475849151670505","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move to the cardboard box on the floor\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away this empty box in the speed pak bin for me. last 20 steps: 1- open your grippers 2- Move the cardboard box to the left Q: next 5 steps? \u003cPRED\u003eA: 1- Move to the cardboard box on the floor 2- pick up the brown box 3- Place the cartoon box on the table 4- Lift the cardboard box from the table 5- Move away from the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move to the cardboard box on the floor\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove to the cardboard box on the floor Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove to the cardboard box on the floor Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away this empty box in the speed pak bin for me. last 20 steps: 1- open your grippers 2- Move the cardboard box to the left Q: immediate next step? \u003cPRED\u003eA: Move to the cardboard box on the floor\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please throw away this empty box in the speed pak bin for me Q: immediate next step? \u003cPRED\u003eA: Move to the cardboard box on the floor\n\u003c/PRED\u003e","video":"4870830895664758098.mp4"}
+{"uid":"16118540849544161938","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Move your arm towards the cartoon box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nMove your arm towards the cartoon box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15838943049112009186.mp4"}
+{"uid":"6427051716134137837","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Move towards the cardboard box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nMove towards the cardboard box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15951131666208007403.mp4"}
+{"uid":"3739395449705493683","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pistachio in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14494058160568204548.mp4"}
+{"uid":"1321678761526829491","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nRelease the black holder into the cardboard box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11924481434586391777.mp4"}
+{"uid":"16455968663487524907","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: exit the room\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nexit the room Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nexit the room Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please throw away this empty box in the speed pak bin for me Q: immediate next step? \u003cPRED\u003eA: exit the room\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away this empty box in the speed pak bin for me. last 20 steps: 1- open your grippers 2- Move the cardboard box to the left 3- drop the cardboard box on the floor 4- Move to the cardboard box on the floor 5- grab the brown box 6- pick up the brown box 7- Place the cartoon box on the table 8- Lift the cardboard box from the table Q: immediate next step? \u003cPRED\u003eA: exit the room\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: exit the room\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away this empty box in the speed pak bin for me. last 20 steps: 1- open your grippers 2- Move the cardboard box to the left 3- drop the cardboard box on the floor 4- Move to the cardboard box on the floor 5- grab the brown box 6- pick up the brown box 7- Place the cartoon box on the table 8- Lift the cardboard box from the table Q: next 5 steps? \u003cPRED\u003eA: 1- exit the room 2- Move towards the right most cardboard box 3- Drop the cardboard box 4- move back 5- done\n\u003c/PRED\u003e","video":"11697735393781746773.mp4"}
+{"uid":"2904843766277156272","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Lift the cardboard box from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nLift the cardboard box from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8025387177372384515.mp4"}
+{"uid":"14378125585046028748","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace sticky notes in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15080158124090336332.mp4"}
+{"uid":"5446926640085106056","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove close to the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9882711879370991643.mp4"}
+{"uid":"15783050223859925698","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away this empty box in the speed pak bin for me. last 20 steps: 1- open your grippers Q: immediate next step? \u003cPRED\u003eA: move the brown box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move the brown box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove the brown box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove the brown box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away this empty box in the speed pak bin for me. last 20 steps: 1- open your grippers Q: next 5 steps? \u003cPRED\u003eA: 1- move the brown box 2- Move to the cardboard box on the floor 3- grab the brown box 4- pick up the brown box 5- Place the cartoon box on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move the brown box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please throw away this empty box in the speed pak bin for me Q: immediate next step? \u003cPRED\u003eA: move the brown box\n\u003c/PRED\u003e","video":"16555140878291551156.mp4"}
+{"uid":"7119247352789052509","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nLift the cardboard box from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away this empty box in the speed pak bin for me. last 20 steps: 1- open your grippers 2- Move the cardboard box to the left 3- drop the cardboard box on the floor 4- Move to the cardboard box on the floor 5- grab the brown box 6- pick up the brown box Q: immediate next step? \u003cPRED\u003eA: Lift the cardboard box from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nLift the cardboard box from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Lift the cardboard box from the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please throw away this empty box in the speed pak bin for me Q: immediate next step? \u003cPRED\u003eA: Lift the cardboard box from the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away this empty box in the speed pak bin for me. last 20 steps: 1- open your grippers 2- Move the cardboard box to the left 3- drop the cardboard box on the floor 4- Move to the cardboard box on the floor 5- grab the brown box 6- pick up the brown box Q: next 5 steps? \u003cPRED\u003eA: 1- Lift the cardboard box from the table 2- Move away from the table 3- Exit the room 4- Move towards the cardboard box 5- Move towards the right most cardboard box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Lift the cardboard box from the table\n\u003c/PRED\u003e","video":"15860165454279144426.mp4"}
+{"uid":"4254698046142169695","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput candy in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1737424543148899277.mp4"}
+{"uid":"8864798831135073700","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the lid on the existing lids in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15177040615620761311.mp4"}
+{"uid":"18016584153427122928","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move your arm towards the cartoon box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove your arm towards the cartoon box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away this empty box in the speed pak bin for me. last 20 steps: 1- open your grippers 2- Move the cardboard box to the left Q: next 5 steps? \u003cPRED\u003eA: 1- Move your arm towards the cartoon box 2- pick up the brown box 3- Place the cartoon box on the table 4- Lift the cardboard box from the table 5- Move away from the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove your arm towards the cartoon box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away this empty box in the speed pak bin for me. last 20 steps: 1- open your grippers 2- Move the cardboard box to the left Q: immediate next step? \u003cPRED\u003eA: Move your arm towards the cartoon box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move your arm towards the cartoon box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please throw away this empty box in the speed pak bin for me Q: immediate next step? \u003cPRED\u003eA: Move your arm towards the cartoon box\n\u003c/PRED\u003e","video":"2251752256149195527.mp4"}
+{"uid":"2181492701323761713","text":"\u003ctask:success:discrete:False\u003e\nDrop the cardboard box into the right speed pack cardboard box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop the cardboard box into the right speed pack cardboard box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop the cardboard box into the right speed pack cardboard box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please throw away this empty box in the speed pak bin for me Q: immediate next step? \u003cPRED\u003eA: Drop the cardboard box into the right speed pack cardboard box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away this empty box in the speed pak bin for me. last 20 steps: 1- open your grippers 2- Move the cardboard box to the left 3- drop the cardboard box on the floor 4- Move to the cardboard box on the floor 5- grab the brown box 6- pick up the brown box 7- Place the cartoon box on the table 8- Lift the cardboard box from the table 9- Move away from the table 10- Exit the room 11- Move towards the cardboard box Q: immediate next step? \u003cPRED\u003eA: Drop the cardboard box into the right speed pack cardboard box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop the cardboard box into the right speed pack cardboard box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away this empty box in the speed pak bin for me. last 20 steps: 1- open your grippers 2- Move the cardboard box to the left 3- drop the cardboard box on the floor 4- Move to the cardboard box on the floor 5- grab the brown box 6- pick up the brown box 7- Place the cartoon box on the table 8- Lift the cardboard box from the table 9- Move away from the table 10- Exit the room 11- Move towards the cardboard box Q: next 5 steps? \u003cPRED\u003eA: 1- Drop the cardboard box into the right speed pack cardboard box 2- move back 3- done\n\u003c/PRED\u003e","video":"5247379158080080682.mp4"}
+{"uid":"10094207712630957175","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Push the cartoon box from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPush the cartoon box from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2218110205220514736.mp4"}
+{"uid":"18349644574519678171","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the cardboard box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please throw away this empty box in the speed pak bin for me Q: immediate next step? \u003cPRED\u003eA: Pick up the cardboard box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the cardboard box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the cardboard box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the cardboard box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away this empty box in the speed pak bin for me. last 20 steps: 1- open your grippers 2- Move the cardboard box to the left 3- drop the cardboard box on the floor 4- Move to the cardboard box on the floor 5- grab the brown box 6- pick up the brown box Q: immediate next step? \u003cPRED\u003eA: Pick up the cardboard box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away this empty box in the speed pak bin for me. last 20 steps: 1- open your grippers 2- Move the cardboard box to the left 3- drop the cardboard box on the floor 4- Move to the cardboard box on the floor 5- grab the brown box 6- pick up the brown box Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the cardboard box 2- Move away from the table 3- Exit the room 4- Move towards the cardboard box 5- Move towards the right most cardboard box\n\u003c/PRED\u003e","video":"6200167555400866877.mp4"}
+{"uid":"10327384078533937725","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace that pear on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10090458150443332770.mp4"}
+{"uid":"14259872892258390019","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace apple in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"67188672140481285.mp4"}
+{"uid":"8433486779796049002","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Push the the cardboard box slightly forward\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPush the the cardboard box slightly forward Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away this empty box in the speed pak bin for me. last 20 steps: 1- open your grippers 2- Move the cardboard box to the left 3- drop the cardboard box on the floor Q: next 5 steps? \u003cPRED\u003eA: 1- Push the the cardboard box slightly forward 2- pick up the brown box 3- Place the cartoon box on the table 4- Lift the cardboard box from the table 5- Move away from the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away this empty box in the speed pak bin for me. last 20 steps: 1- open your grippers 2- Move the cardboard box to the left 3- drop the cardboard box on the floor Q: immediate next step? \u003cPRED\u003eA: Push the the cardboard box slightly forward\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Push the the cardboard box slightly forward\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please throw away this empty box in the speed pak bin for me Q: immediate next step? \u003cPRED\u003eA: Push the the cardboard box slightly forward\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPush the the cardboard box slightly forward Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11759937119109259697.mp4"}
+{"uid":"15123176063228213273","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please throw away this empty box in the speed pak bin for me Q: immediate next step? \u003cPRED\u003eA: Pick up the cartoon box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away this empty box in the speed pak bin for me. last 20 steps: 1- open your grippers 2- Move the cardboard box to the left 3- drop the cardboard box on the floor 4- Move to the cardboard box on the floor 5- grab the brown box 6- pick up the brown box 7- Place the cartoon box on the table Q: immediate next step? \u003cPRED\u003eA: Pick up the cartoon box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away this empty box in the speed pak bin for me. last 20 steps: 1- open your grippers 2- Move the cardboard box to the left 3- drop the cardboard box on the floor 4- Move to the cardboard box on the floor 5- grab the brown box 6- pick up the brown box 7- Place the cartoon box on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the cartoon box 2- Exit the room 3- Move towards the cardboard box 4- Move towards the right most cardboard box 5- Drop the cardboard box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the cartoon box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the cartoon box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the cartoon box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the cartoon box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"873410054349101790.mp4"}
+{"uid":"8228634761648380366","text":"\u003ctask:success:discrete:True\u003e\nPlace the cartoon box on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the cartoon box on the table\n\u003c/PRED\u003e","video":"14582219411035068233.mp4"}
+{"uid":"3361744341351721243","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput orange in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15677053247708405650.mp4"}
+{"uid":"15477884733021850692","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop the cardboard box into the right side speed pack box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop the cardboard box into the right side speed pack box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrop the cardboard box into the right side speed pack box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away this empty box in the speed pak bin for me. last 20 steps: 1- open your grippers 2- Move the cardboard box to the left 3- drop the cardboard box on the floor 4- Move to the cardboard box on the floor 5- grab the brown box 6- pick up the brown box 7- Place the cartoon box on the table 8- Lift the cardboard box from the table 9- Move away from the table 10- Exit the room 11- Move towards the cardboard box Q: immediate next step? \u003cPRED\u003eA: Drop the cardboard box into the right side speed pack box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop the cardboard box into the right side speed pack box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away this empty box in the speed pak bin for me. last 20 steps: 1- open your grippers 2- Move the cardboard box to the left 3- drop the cardboard box on the floor 4- Move to the cardboard box on the floor 5- grab the brown box 6- pick up the brown box 7- Place the cartoon box on the table 8- Lift the cardboard box from the table 9- Move away from the table 10- Exit the room 11- Move towards the cardboard box Q: next 5 steps? \u003cPRED\u003eA: 1- Drop the cardboard box into the right side speed pack box 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please throw away this empty box in the speed pak bin for me Q: immediate next step? \u003cPRED\u003eA: Drop the cardboard box into the right side speed pack box\n\u003c/PRED\u003e","video":"8700129225562260927.mp4"}
+{"uid":"5023327391096949013","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please throw away this empty box in the speed pak bin for me Q: immediate next step? \u003cPRED\u003eA: drop the brown box in the cardboard box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away this empty box in the speed pak bin for me. last 20 steps: 1- open your grippers 2- Move the cardboard box to the left 3- drop the cardboard box on the floor 4- Move to the cardboard box on the floor 5- grab the brown box 6- pick up the brown box 7- Place the cartoon box on the table 8- Lift the cardboard box from the table 9- Move away from the table 10- Exit the room 11- Move towards the cardboard box Q: immediate next step? \u003cPRED\u003eA: drop the brown box in the cardboard box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the brown box in the cardboard box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away this empty box in the speed pak bin for me. last 20 steps: 1- open your grippers 2- Move the cardboard box to the left 3- drop the cardboard box on the floor 4- Move to the cardboard box on the floor 5- grab the brown box 6- pick up the brown box 7- Place the cartoon box on the table 8- Lift the cardboard box from the table 9- Move away from the table 10- Exit the room 11- Move towards the cardboard box Q: next 5 steps? \u003cPRED\u003eA: 1- drop the brown box in the cardboard box 2- move back 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the brown box in the cardboard box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the brown box in the cardboard box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the brown box in the cardboard box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7576049978267522945.mp4"}
+{"uid":"13256913672438993609","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pink packets in the box tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3852108718873449704.mp4"}
+{"uid":"10059695539657522866","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace another pen in the rectangular tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9510690156607221969.mp4"}
+{"uid":"5704090619889163971","text":"\u003ctask:success:discrete:False\u003e\nPut the spoke spoon on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the spoke spoon on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the spoke spoon on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please flips the bowls then seperate the green, yellow and pink candy. Then place the tongs and the forks in the bins. Q: immediate next step? \u003cPRED\u003eA: Put the spoke spoon on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the spoke spoon on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please flips the bowls then seperate the green, yellow and pink candy. Then place the tongs and the forks in the bins. last 20 steps: 1- Put the yellow chocolate in the bowl 2- Put the yellow chocolate in the bowl 3- Put the yellow chocolate in the bowl 4- Put the pink chocolate in the bowl 5- Put the pink chocolate in the bowl 6- Put the pink chocolate in the bowl 7- Put the pink chocolate in the bowl 8- Put the pink chocolate in the bowl 9- Put the green chocolate in the bowl 10- Put the green chocolate in the bowl 11- Put the green chocolate in the bowl 12- Put the green chocolate in the bowl 13- Put the green chocolate in the bowl 14- Put the green chocolate in the bowl 15- Put the tong on the table 16- Put the tong on the table 17- Put the spoke spoons on the table 18- Put the spoke spoons on the table 19- Put the spoke spoons on the table 20- Put the spoke spoons on the table Q: immediate next step? \u003cPRED\u003eA: Put the spoke spoon on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please flips the bowls then seperate the green, yellow and pink candy. Then place the tongs and the forks in the bins. last 20 steps: 1- Put the yellow chocolate in the bowl 2- Put the yellow chocolate in the bowl 3- Put the yellow chocolate in the bowl 4- Put the pink chocolate in the bowl 5- Put the pink chocolate in the bowl 6- Put the pink chocolate in the bowl 7- Put the pink chocolate in the bowl 8- Put the pink chocolate in the bowl 9- Put the green chocolate in the bowl 10- Put the green chocolate in the bowl 11- Put the green chocolate in the bowl 12- Put the green chocolate in the bowl 13- Put the green chocolate in the bowl 14- Put the green chocolate in the bowl 15- Put the tong on the table 16- Put the tong on the table 17- Put the spoke spoons on the table 18- Put the spoke spoons on the table 19- Put the spoke spoons on the table 20- Put the spoke spoons on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the spoke spoon on the table 2- Put the spoke spoon on the table 3- Put the spoke spoon on the table 4- Put the spoke spoons on the table 5- Put the spoke spoon on the table\n\u003c/PRED\u003e","video":"8219575826178601174.mp4"}
+{"uid":"15086615692977705392","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pistachio in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15842057420331375254.mp4"}
+{"uid":"15331013227924595973","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Please flips the bowls then seperate the green, yellow and pink candy. Then place the tongs and the forks in the bins. Q: immediate next step? \u003cPRED\u003eA: Put the tong on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the tong on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the tong on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please flips the bowls then seperate the green, yellow and pink candy. Then place the tongs and the forks in the bins. last 20 steps: 1- unsatck the bowl 2- Put the yellow chocolate in the bowl 3- Put the yellow chocolate in the bowl 4- Put the yellow chocolate in the bowl 5- Put the yellow chocolate in the bowl 6- Put the yellow chocolate in the bowl 7- Put the yellow chocolate in the bowl 8- Put the yellow chocolate in the bowl 9- Put the yellow chocolate in the bowl 10- Put the pink chocolate in the bowl 11- Put the pink chocolate in the bowl 12- Put the pink chocolate in the bowl 13- Put the pink chocolate in the bowl 14- Put the pink chocolate in the bowl 15- Put the green chocolate in the bowl 16- Put the green chocolate in the bowl 17- Put the green chocolate in the bowl 18- Put the green chocolate in the bowl 19- Put the green chocolate in the bowl 20- Put the green chocolate in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put the tong on the table 2- Put the tong on the table 3- Put the spoke spoons on the table 4- Put the spoke spoons on the table 5- Put the spoke spoons on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the tong on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the tong on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please flips the bowls then seperate the green, yellow and pink candy. Then place the tongs and the forks in the bins. last 20 steps: 1- unsatck the bowl 2- Put the yellow chocolate in the bowl 3- Put the yellow chocolate in the bowl 4- Put the yellow chocolate in the bowl 5- Put the yellow chocolate in the bowl 6- Put the yellow chocolate in the bowl 7- Put the yellow chocolate in the bowl 8- Put the yellow chocolate in the bowl 9- Put the yellow chocolate in the bowl 10- Put the pink chocolate in the bowl 11- Put the pink chocolate in the bowl 12- Put the pink chocolate in the bowl 13- Put the pink chocolate in the bowl 14- Put the pink chocolate in the bowl 15- Put the green chocolate in the bowl 16- Put the green chocolate in the bowl 17- Put the green chocolate in the bowl 18- Put the green chocolate in the bowl 19- Put the green chocolate in the bowl 20- Put the green chocolate in the bowl Q: immediate next step? \u003cPRED\u003eA: Put the tong on the table\n\u003c/PRED\u003e","video":"15793029539385863968.mp4"}
+{"uid":"979069971109356854","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the grapes in the rack Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1467649743822153050.mp4"}
+{"uid":"13252402180730687086","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick the potted plant Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15031993222312727024.mp4"}
+{"uid":"17043502599994675048","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please flips the bowls then seperate the green, yellow and pink candy. Then place the tongs and the forks in the bins. last 20 steps: 1- Put the yellow chocolate in the bowl 2- Put the yellow chocolate in the bowl 3- Put the yellow chocolate in the bowl 4- Put the yellow chocolate in the bowl 5- Put the yellow chocolate in the bowl 6- Put the yellow chocolate in the bowl 7- Put the yellow chocolate in the bowl 8- Put the yellow chocolate in the bowl 9- Put the pink chocolate in the bowl 10- Put the pink chocolate in the bowl 11- Put the pink chocolate in the bowl 12- Put the pink chocolate in the bowl 13- Put the pink chocolate in the bowl 14- Put the green chocolate in the bowl 15- Put the green chocolate in the bowl 16- Put the green chocolate in the bowl 17- Put the green chocolate in the bowl 18- Put the green chocolate in the bowl 19- Put the green chocolate in the bowl 20- Put the tong on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the tong on the table 2- Put the spoke spoons on the table 3- Put the spoke spoons on the table 4- Put the spoke spoons on the table 5- Put the spoke spoons on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please flips the bowls then seperate the green, yellow and pink candy. Then place the tongs and the forks in the bins. last 20 steps: 1- Put the yellow chocolate in the bowl 2- Put the yellow chocolate in the bowl 3- Put the yellow chocolate in the bowl 4- Put the yellow chocolate in the bowl 5- Put the yellow chocolate in the bowl 6- Put the yellow chocolate in the bowl 7- Put the yellow chocolate in the bowl 8- Put the yellow chocolate in the bowl 9- Put the pink chocolate in the bowl 10- Put the pink chocolate in the bowl 11- Put the pink chocolate in the bowl 12- Put the pink chocolate in the bowl 13- Put the pink chocolate in the bowl 14- Put the green chocolate in the bowl 15- Put the green chocolate in the bowl 16- Put the green chocolate in the bowl 17- Put the green chocolate in the bowl 18- Put the green chocolate in the bowl 19- Put the green chocolate in the bowl 20- Put the tong on the table Q: immediate next step? \u003cPRED\u003eA: Put the tong on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the tong on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the tong on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the tong on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please flips the bowls then seperate the green, yellow and pink candy. Then place the tongs and the forks in the bins. Q: immediate next step? \u003cPRED\u003eA: Put the tong on the table\n\u003c/PRED\u003e","video":"11511643484546632937.mp4"}
+{"uid":"11450650142204567860","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace orange packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7911081693858947448.mp4"}
+{"uid":"4333509781655401040","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the yellow chocolate in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please flips the bowls then seperate the green, yellow and pink candy. Then place the tongs and the forks in the bins. last 20 steps: 1- unstack the bowl 2- unstack the bowl 3- unsatck the bowl 4- Put the yellow chocolate in the bowl 5- Put the yellow chocolate in the bowl 6- Put the yellow chocolate in the bowl 7- Put the yellow chocolate in the bowl Q: immediate next step? \u003cPRED\u003eA: Put the yellow chocolate in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the yellow chocolate in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please flips the bowls then seperate the green, yellow and pink candy. Then place the tongs and the forks in the bins. Q: immediate next step? \u003cPRED\u003eA: Put the yellow chocolate in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the yellow chocolate in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please flips the bowls then seperate the green, yellow and pink candy. Then place the tongs and the forks in the bins. last 20 steps: 1- unstack the bowl 2- unstack the bowl 3- unsatck the bowl 4- Put the yellow chocolate in the bowl 5- Put the yellow chocolate in the bowl 6- Put the yellow chocolate in the bowl 7- Put the yellow chocolate in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put the yellow chocolate in the bowl 2- Put the yellow chocolate in the bowl 3- Put the yellow chocolate in the bowl 4- Put the yellow chocolate in the bowl 5- Put the pink chocolate in the bowl\n\u003c/PRED\u003e","video":"5600693655967520863.mp4"}
+{"uid":"18400590995787529304","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop the measuring tape in the cardboard box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8146560374585388302.mp4"}
+{"uid":"9266157070656030770","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack the cups Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14088735797414798897.mp4"}
+{"uid":"10004213549354535894","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the cup inside another cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16763752826235326970.mp4"}
+{"uid":"3555277225076051062","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pistachio in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3531913003985194402.mp4"}
+{"uid":"16140750819006975510","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the packet in a drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14345398521539015697.mp4"}
+{"uid":"16178505857620459340","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the wire in the container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6894156403195998540.mp4"}
+{"uid":"7310447934553026512","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the yellow chocolate in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the yellow chocolate in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please flips the bowls then seperate the green, yellow and pink candy. Then place the tongs and the forks in the bins. last 20 steps: 1- unstack the bowl 2- unstack the bowl 3- unsatck the bowl 4- Put the yellow chocolate in the bowl 5- Put the yellow chocolate in the bowl 6- Put the yellow chocolate in the bowl 7- Put the yellow chocolate in the bowl 8- Put the yellow chocolate in the bowl 9- Put the yellow chocolate in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put the yellow chocolate in the bowl 2- Put the yellow chocolate in the bowl 3- Put the pink chocolate in the bowl 4- Put the pink chocolate in the bowl 5- Put the pink chocolate in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please flips the bowls then seperate the green, yellow and pink candy. Then place the tongs and the forks in the bins. last 20 steps: 1- unstack the bowl 2- unstack the bowl 3- unsatck the bowl 4- Put the yellow chocolate in the bowl 5- Put the yellow chocolate in the bowl 6- Put the yellow chocolate in the bowl 7- Put the yellow chocolate in the bowl 8- Put the yellow chocolate in the bowl 9- Put the yellow chocolate in the bowl Q: immediate next step? \u003cPRED\u003eA: Put the yellow chocolate in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please flips the bowls then seperate the green, yellow and pink candy. Then place the tongs and the forks in the bins. Q: immediate next step? \u003cPRED\u003eA: Put the yellow chocolate in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the yellow chocolate in the bowl\n\u003c/PRED\u003e","video":"8928691854589156223.mp4"}
+{"uid":"8044655325485838952","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput white packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16965996391382566225.mp4"}
+{"uid":"4311191154487407022","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the pink chocolate in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the pink chocolate in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please flips the bowls then seperate the green, yellow and pink candy. Then place the tongs and the forks in the bins. Q: immediate next step? \u003cPRED\u003eA: Put the pink chocolate in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please flips the bowls then seperate the green, yellow and pink candy. Then place the tongs and the forks in the bins. last 20 steps: 1- unstack the bowl 2- unstack the bowl 3- unsatck the bowl 4- Put the yellow chocolate in the bowl 5- Put the yellow chocolate in the bowl 6- Put the yellow chocolate in the bowl 7- Put the yellow chocolate in the bowl 8- Put the yellow chocolate in the bowl 9- Put the yellow chocolate in the bowl 10- Put the yellow chocolate in the bowl 11- Put the yellow chocolate in the bowl 12- Put the pink chocolate in the bowl 13- Put the pink chocolate in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put the pink chocolate in the bowl 2- Put the pink chocolate in the bowl 3- Put the pink chocolate in the bowl 4- Put the green chocolate in the bowl 5- Put the green chocolate in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the pink chocolate in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please flips the bowls then seperate the green, yellow and pink candy. Then place the tongs and the forks in the bins. last 20 steps: 1- unstack the bowl 2- unstack the bowl 3- unsatck the bowl 4- Put the yellow chocolate in the bowl 5- Put the yellow chocolate in the bowl 6- Put the yellow chocolate in the bowl 7- Put the yellow chocolate in the bowl 8- Put the yellow chocolate in the bowl 9- Put the yellow chocolate in the bowl 10- Put the yellow chocolate in the bowl 11- Put the yellow chocolate in the bowl 12- Put the pink chocolate in the bowl 13- Put the pink chocolate in the bowl Q: immediate next step? \u003cPRED\u003eA: Put the pink chocolate in the bowl\n\u003c/PRED\u003e","video":"3337155639811968025.mp4"}
+{"uid":"5769215314745322654","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the pink packet into the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7933956868051565315.mp4"}
+{"uid":"11070801827092894924","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the red pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15218469669756208628.mp4"}
+{"uid":"6571088701856309402","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the fruits into the bowl. last 20 steps: 1- Put banana in the bowl Q: immediate next step? \u003cPRED\u003eA: Put banana in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put banana in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the fruits into the bowl Q: immediate next step? \u003cPRED\u003eA: Put banana in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put banana in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut banana in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the fruits into the bowl. last 20 steps: 1- Put banana in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put banana in the bowl 2- Put banana in the bowl 3- Put banana in the bowl 4- Put fruit in the bowl 5- Put fruit in the bowl\n\u003c/PRED\u003e","video":"1040495919876871202.mp4"}
+{"uid":"15708376198919845127","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please flips the bowls then seperate the green, yellow and pink candy. Then place the tongs and the forks in the bins. last 20 steps: 1- unstack the bowl 2- unstack the bowl 3- unsatck the bowl 4- Put the yellow chocolate in the bowl 5- Put the yellow chocolate in the bowl 6- Put the yellow chocolate in the bowl 7- Put the yellow chocolate in the bowl 8- Put the yellow chocolate in the bowl 9- Put the yellow chocolate in the bowl 10- Put the yellow chocolate in the bowl 11- Put the yellow chocolate in the bowl 12- Put the pink chocolate in the bowl 13- Put the pink chocolate in the bowl 14- Put the pink chocolate in the bowl 15- Put the pink chocolate in the bowl 16- Put the pink chocolate in the bowl 17- Put the green chocolate in the bowl 18- Put the green chocolate in the bowl 19- Put the green chocolate in the bowl 20- Put the green chocolate in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put the green chocolate in the bowl 2- Put the green chocolate in the bowl 3- Put the tong on the table 4- Put the tong on the table 5- Put the spoke spoons on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please flips the bowls then seperate the green, yellow and pink candy. Then place the tongs and the forks in the bins. Q: immediate next step? \u003cPRED\u003eA: Put the green chocolate in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the green chocolate in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the green chocolate in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the green chocolate in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please flips the bowls then seperate the green, yellow and pink candy. Then place the tongs and the forks in the bins. last 20 steps: 1- unstack the bowl 2- unstack the bowl 3- unsatck the bowl 4- Put the yellow chocolate in the bowl 5- Put the yellow chocolate in the bowl 6- Put the yellow chocolate in the bowl 7- Put the yellow chocolate in the bowl 8- Put the yellow chocolate in the bowl 9- Put the yellow chocolate in the bowl 10- Put the yellow chocolate in the bowl 11- Put the yellow chocolate in the bowl 12- Put the pink chocolate in the bowl 13- Put the pink chocolate in the bowl 14- Put the pink chocolate in the bowl 15- Put the pink chocolate in the bowl 16- Put the pink chocolate in the bowl 17- Put the green chocolate in the bowl 18- Put the green chocolate in the bowl 19- Put the green chocolate in the bowl 20- Put the green chocolate in the bowl Q: immediate next step? \u003cPRED\u003eA: Put the green chocolate in the bowl\n\u003c/PRED\u003e","video":"7770101825550193144.mp4"}
+{"uid":"13006465297944872671","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ntilt your arm back Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4744848919240114928.mp4"}
+{"uid":"10333225795412262267","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop spoon into coffee cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17544020271841969942.mp4"}
+{"uid":"9358315958625042434","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nclose the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13825597896146161572.mp4"}
+{"uid":"15366683737889715749","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput fork on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12150640087368433406.mp4"}
+{"uid":"4729737175502283029","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Please flips the bowls then seperate the green, yellow and pink candy. Then place the tongs and the forks in the bins. Q: immediate next step? \u003cPRED\u003eA: Put the pink chocolate in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please flips the bowls then seperate the green, yellow and pink candy. Then place the tongs and the forks in the bins. last 20 steps: 1- unstack the bowl 2- unstack the bowl 3- unsatck the bowl 4- Put the yellow chocolate in the bowl 5- Put the yellow chocolate in the bowl 6- Put the yellow chocolate in the bowl 7- Put the yellow chocolate in the bowl 8- Put the yellow chocolate in the bowl 9- Put the yellow chocolate in the bowl 10- Put the yellow chocolate in the bowl 11- Put the yellow chocolate in the bowl 12- Put the pink chocolate in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put the pink chocolate in the bowl 2- Put the pink chocolate in the bowl 3- Put the pink chocolate in the bowl 4- Put the pink chocolate in the bowl 5- Put the green chocolate in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the pink chocolate in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the pink chocolate in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please flips the bowls then seperate the green, yellow and pink candy. Then place the tongs and the forks in the bins. last 20 steps: 1- unstack the bowl 2- unstack the bowl 3- unsatck the bowl 4- Put the yellow chocolate in the bowl 5- Put the yellow chocolate in the bowl 6- Put the yellow chocolate in the bowl 7- Put the yellow chocolate in the bowl 8- Put the yellow chocolate in the bowl 9- Put the yellow chocolate in the bowl 10- Put the yellow chocolate in the bowl 11- Put the yellow chocolate in the bowl 12- Put the pink chocolate in the bowl Q: immediate next step? \u003cPRED\u003eA: Put the pink chocolate in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the pink chocolate in the bowl\n\u003c/PRED\u003e","video":"8526183189723355029.mp4"}
+{"uid":"17700874740866079501","text":"\u003ctask:success:discrete:False\u003e\nPut the pink chocolate in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the pink chocolate in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please flips the bowls then seperate the green, yellow and pink candy. Then place the tongs and the forks in the bins. last 20 steps: 1- unstack the bowl 2- unstack the bowl 3- unsatck the bowl 4- Put the yellow chocolate in the bowl 5- Put the yellow chocolate in the bowl 6- Put the yellow chocolate in the bowl 7- Put the yellow chocolate in the bowl 8- Put the yellow chocolate in the bowl 9- Put the yellow chocolate in the bowl 10- Put the yellow chocolate in the bowl 11- Put the yellow chocolate in the bowl Q: immediate next step? \u003cPRED\u003eA: Put the pink chocolate in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please flips the bowls then seperate the green, yellow and pink candy. Then place the tongs and the forks in the bins. Q: immediate next step? \u003cPRED\u003eA: Put the pink chocolate in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the big paper chit on the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the pink chocolate in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please flips the bowls then seperate the green, yellow and pink candy. Then place the tongs and the forks in the bins. last 20 steps: 1- unstack the bowl 2- unstack the bowl 3- unsatck the bowl 4- Put the yellow chocolate in the bowl 5- Put the yellow chocolate in the bowl 6- Put the yellow chocolate in the bowl 7- Put the yellow chocolate in the bowl 8- Put the yellow chocolate in the bowl 9- Put the yellow chocolate in the bowl 10- Put the yellow chocolate in the bowl 11- Put the yellow chocolate in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put the pink chocolate in the bowl 2- Put the pink chocolate in the bowl 3- Put the pink chocolate in the bowl 4- Put the pink chocolate in the bowl 5- Put the pink chocolate in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the pink chocolate in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7402647293291598934.mp4"}
+{"uid":"5871696629588055431","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the green chocolate in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the green chocolate in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please flips the bowls then seperate the green, yellow and pink candy. Then place the tongs and the forks in the bins. Q: immediate next step? \u003cPRED\u003eA: Put the green chocolate in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please flips the bowls then seperate the green, yellow and pink candy. Then place the tongs and the forks in the bins. last 20 steps: 1- unstack the bowl 2- unstack the bowl 3- unsatck the bowl 4- Put the yellow chocolate in the bowl 5- Put the yellow chocolate in the bowl 6- Put the yellow chocolate in the bowl 7- Put the yellow chocolate in the bowl 8- Put the yellow chocolate in the bowl 9- Put the yellow chocolate in the bowl 10- Put the yellow chocolate in the bowl 11- Put the yellow chocolate in the bowl 12- Put the pink chocolate in the bowl 13- Put the pink chocolate in the bowl 14- Put the pink chocolate in the bowl 15- Put the pink chocolate in the bowl 16- Put the pink chocolate in the bowl 17- Put the green chocolate in the bowl 18- Put the green chocolate in the bowl Q: immediate next step? \u003cPRED\u003eA: Put the green chocolate in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the green chocolate in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please flips the bowls then seperate the green, yellow and pink candy. Then place the tongs and the forks in the bins. last 20 steps: 1- unstack the bowl 2- unstack the bowl 3- unsatck the bowl 4- Put the yellow chocolate in the bowl 5- Put the yellow chocolate in the bowl 6- Put the yellow chocolate in the bowl 7- Put the yellow chocolate in the bowl 8- Put the yellow chocolate in the bowl 9- Put the yellow chocolate in the bowl 10- Put the yellow chocolate in the bowl 11- Put the yellow chocolate in the bowl 12- Put the pink chocolate in the bowl 13- Put the pink chocolate in the bowl 14- Put the pink chocolate in the bowl 15- Put the pink chocolate in the bowl 16- Put the pink chocolate in the bowl 17- Put the green chocolate in the bowl 18- Put the green chocolate in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put the green chocolate in the bowl 2- Put the green chocolate in the bowl 3- Put the green chocolate in the bowl 4- Put the green chocolate in the bowl 5- Put the tong on the table\n\u003c/PRED\u003e","video":"5857762997331645812.mp4"}
+{"uid":"5222173905944009394","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put banana in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put banana in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the fruits into the bowl. last 20 steps: 1- Put banana in the bowl 2- Put banana in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put banana in the bowl 2- Put banana in the bowl 3- Put fruit in the bowl 4- Put fruit in the bowl 5- Put fruit in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut banana in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the fruits into the bowl. last 20 steps: 1- Put banana in the bowl 2- Put banana in the bowl Q: immediate next step? \u003cPRED\u003eA: Put banana in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the fruits into the bowl Q: immediate next step? \u003cPRED\u003eA: Put banana in the bowl\n\u003c/PRED\u003e","video":"12101909183175009687.mp4"}
+{"uid":"5468315520854349974","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut apple in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut apple in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put apple in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the fruits into the bowl Q: immediate next step? \u003cPRED\u003eA: Put apple in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put apple in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the fruits into the bowl. last 20 steps: 1- Put banana in the bowl 2- Put banana in the bowl 3- Put banana in the bowl 4- Put banana in the bowl 5- Put fruit in the bowl 6- Put fruit in the bowl 7- Put fruit in the bowl 8- Put fruit in the bowl 9- Put fruit in the bowl Q: immediate next step? \u003cPRED\u003eA: Put apple in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the fruits into the bowl. last 20 steps: 1- Put banana in the bowl 2- Put banana in the bowl 3- Put banana in the bowl 4- Put banana in the bowl 5- Put fruit in the bowl 6- Put fruit in the bowl 7- Put fruit in the bowl 8- Put fruit in the bowl 9- Put fruit in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put apple in the bowl 2- Put fruit in the bowl 3- done\n\u003c/PRED\u003e","video":"17084494031911663849.mp4"}
+{"uid":"6404268785672611946","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Please flips the bowls then seperate the green, yellow and pink candy. Then place the tongs and the forks in the bins. Q: immediate next step? \u003cPRED\u003eA: Put the spoke spoon on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the spoke spoon on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please flips the bowls then seperate the green, yellow and pink candy. Then place the tongs and the forks in the bins. last 20 steps: 1- Put the yellow chocolate in the bowl 2- Put the pink chocolate in the bowl 3- Put the pink chocolate in the bowl 4- Put the pink chocolate in the bowl 5- Put the pink chocolate in the bowl 6- Put the pink chocolate in the bowl 7- Put the green chocolate in the bowl 8- Put the green chocolate in the bowl 9- Put the green chocolate in the bowl 10- Put the green chocolate in the bowl 11- Put the green chocolate in the bowl 12- Put the green chocolate in the bowl 13- Put the tong on the table 14- Put the tong on the table 15- Put the spoke spoons on the table 16- Put the spoke spoons on the table 17- Put the spoke spoons on the table 18- Put the spoke spoons on the table 19- Put the spoke spoon on the table 20- Put the spoke spoon on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the spoke spoon on the table 2- Put the spoke spoons on the table 3- Put the spoke spoon on the table 4- Put the spoke spoon on the table 5- Put the spoke spoons on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please flips the bowls then seperate the green, yellow and pink candy. Then place the tongs and the forks in the bins. last 20 steps: 1- Put the yellow chocolate in the bowl 2- Put the pink chocolate in the bowl 3- Put the pink chocolate in the bowl 4- Put the pink chocolate in the bowl 5- Put the pink chocolate in the bowl 6- Put the pink chocolate in the bowl 7- Put the green chocolate in the bowl 8- Put the green chocolate in the bowl 9- Put the green chocolate in the bowl 10- Put the green chocolate in the bowl 11- Put the green chocolate in the bowl 12- Put the green chocolate in the bowl 13- Put the tong on the table 14- Put the tong on the table 15- Put the spoke spoons on the table 16- Put the spoke spoons on the table 17- Put the spoke spoons on the table 18- Put the spoke spoons on the table 19- Put the spoke spoon on the table 20- Put the spoke spoon on the table Q: immediate next step? \u003cPRED\u003eA: Put the spoke spoon on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the spoke spoon on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the spoke spoon on the table\n\u003c/PRED\u003e","video":"823007600159646360.mp4"}
+{"uid":"12326258939974772765","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the green chocolate in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please flips the bowls then seperate the green, yellow and pink candy. Then place the tongs and the forks in the bins. last 20 steps: 1- unstack the bowl 2- unstack the bowl 3- unsatck the bowl 4- Put the yellow chocolate in the bowl 5- Put the yellow chocolate in the bowl 6- Put the yellow chocolate in the bowl 7- Put the yellow chocolate in the bowl 8- Put the yellow chocolate in the bowl 9- Put the yellow chocolate in the bowl 10- Put the yellow chocolate in the bowl 11- Put the yellow chocolate in the bowl 12- Put the pink chocolate in the bowl 13- Put the pink chocolate in the bowl 14- Put the pink chocolate in the bowl 15- Put the pink chocolate in the bowl 16- Put the pink chocolate in the bowl 17- Put the green chocolate in the bowl Q: immediate next step? \u003cPRED\u003eA: Put the green chocolate in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the green chocolate in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up a yellow marker Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please flips the bowls then seperate the green, yellow and pink candy. Then place the tongs and the forks in the bins. Q: immediate next step? \u003cPRED\u003eA: Put the green chocolate in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the green chocolate in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please flips the bowls then seperate the green, yellow and pink candy. Then place the tongs and the forks in the bins. last 20 steps: 1- unstack the bowl 2- unstack the bowl 3- unsatck the bowl 4- Put the yellow chocolate in the bowl 5- Put the yellow chocolate in the bowl 6- Put the yellow chocolate in the bowl 7- Put the yellow chocolate in the bowl 8- Put the yellow chocolate in the bowl 9- Put the yellow chocolate in the bowl 10- Put the yellow chocolate in the bowl 11- Put the yellow chocolate in the bowl 12- Put the pink chocolate in the bowl 13- Put the pink chocolate in the bowl 14- Put the pink chocolate in the bowl 15- Put the pink chocolate in the bowl 16- Put the pink chocolate in the bowl 17- Put the green chocolate in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put the green chocolate in the bowl 2- Put the green chocolate in the bowl 3- Put the green chocolate in the bowl 4- Put the green chocolate in the bowl 5- Put the green chocolate in the bowl\n\u003c/PRED\u003e","video":"8038794028805907955.mp4"}
+{"uid":"5277934039357424835","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please flips the bowls then seperate the green, yellow and pink candy. Then place the tongs and the forks in the bins. last 20 steps: 1- Put the pink chocolate in the bowl 2- Put the pink chocolate in the bowl 3- Put the pink chocolate in the bowl 4- Put the pink chocolate in the bowl 5- Put the green chocolate in the bowl 6- Put the green chocolate in the bowl 7- Put the green chocolate in the bowl 8- Put the green chocolate in the bowl 9- Put the green chocolate in the bowl 10- Put the green chocolate in the bowl 11- Put the tong on the table 12- Put the tong on the table 13- Put the spoke spoons on the table 14- Put the spoke spoons on the table 15- Put the spoke spoons on the table 16- Put the spoke spoons on the table 17- Put the spoke spoon on the table 18- Put the spoke spoon on the table 19- Put the spoke spoon on the table 20- Put the spoke spoons on the table Q: immediate next step? \u003cPRED\u003eA: Put the spoke spoon on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the spoke spoon on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the spoke spoon on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please flips the bowls then seperate the green, yellow and pink candy. Then place the tongs and the forks in the bins. Q: immediate next step? \u003cPRED\u003eA: Put the spoke spoon on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please flips the bowls then seperate the green, yellow and pink candy. Then place the tongs and the forks in the bins. last 20 steps: 1- Put the pink chocolate in the bowl 2- Put the pink chocolate in the bowl 3- Put the pink chocolate in the bowl 4- Put the pink chocolate in the bowl 5- Put the green chocolate in the bowl 6- Put the green chocolate in the bowl 7- Put the green chocolate in the bowl 8- Put the green chocolate in the bowl 9- Put the green chocolate in the bowl 10- Put the green chocolate in the bowl 11- Put the tong on the table 12- Put the tong on the table 13- Put the spoke spoons on the table 14- Put the spoke spoons on the table 15- Put the spoke spoons on the table 16- Put the spoke spoons on the table 17- Put the spoke spoon on the table 18- Put the spoke spoon on the table 19- Put the spoke spoon on the table 20- Put the spoke spoons on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the spoke spoon on the table 2- Put the spoke spoon on the table 3- Put the spoke spoons on the table 4- Put the spoke spoon on the table 5- Put the spoke spoon on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the spoke spoon on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the spoke spoon on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10728393494614057692.mp4"}
+{"uid":"4707899908815339247","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput packet on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12846737743669907421.mp4"}
+{"uid":"6437053007776352126","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the fruits into the bowl Q: immediate next step? \u003cPRED\u003eA: Put banana in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the fruits into the bowl. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Put banana in the bowl 2- Put banana in the bowl 3- Put banana in the bowl 4- Put banana in the bowl 5- Put fruit in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put banana in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put banana in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut banana in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut banana in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the fruits into the bowl. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Put banana in the bowl\n\u003c/PRED\u003e","video":"17864366419473546645.mp4"}
+{"uid":"2165346131371049976","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut banana in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the fruits into the bowl. last 20 steps: 1- Put banana in the bowl 2- Put banana in the bowl 3- Put banana in the bowl Q: immediate next step? \u003cPRED\u003eA: Put banana in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put banana in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put banana in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the fruits into the bowl. last 20 steps: 1- Put banana in the bowl 2- Put banana in the bowl 3- Put banana in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put banana in the bowl 2- Put fruit in the bowl 3- Put fruit in the bowl 4- Put fruit in the bowl 5- Put fruit in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the fruits into the bowl Q: immediate next step? \u003cPRED\u003eA: Put banana in the bowl\n\u003c/PRED\u003e","video":"4183345357439442732.mp4"}
+{"uid":"6541116281326102421","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8817145802071224667.mp4"}
+{"uid":"7286499239993350067","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the pistachio in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2416247522800088519.mp4"}
+{"uid":"13059908761258954574","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace a yellow packet in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11195891753417053181.mp4"}
+{"uid":"17886516078567805332","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up the ten number ball Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16699499586600759937.mp4"}
+{"uid":"1554829182763702883","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the fruits into the bowl Q: immediate next step? \u003cPRED\u003eA: Put fruit in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put fruit in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put fruit in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the fruits into the bowl. last 20 steps: 1- Put banana in the bowl 2- Put banana in the bowl 3- Put banana in the bowl 4- Put banana in the bowl 5- Put fruit in the bowl 6- Put fruit in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put fruit in the bowl 2- Put fruit in the bowl 3- Put fruit in the bowl 4- Put apple in the bowl 5- Put fruit in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut fruit in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the fruits into the bowl. last 20 steps: 1- Put banana in the bowl 2- Put banana in the bowl 3- Put banana in the bowl 4- Put banana in the bowl 5- Put fruit in the bowl 6- Put fruit in the bowl Q: immediate next step? \u003cPRED\u003eA: Put fruit in the bowl\n\u003c/PRED\u003e","video":"1240057107367851091.mp4"}
+{"uid":"13405452331293441911","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please flips the bowls then seperate the green, yellow and pink candy. Then place the tongs and the forks in the bins. last 20 steps: 1- Put the pink chocolate in the bowl 2- Put the green chocolate in the bowl 3- Put the green chocolate in the bowl 4- Put the green chocolate in the bowl 5- Put the green chocolate in the bowl 6- Put the green chocolate in the bowl 7- Put the green chocolate in the bowl 8- Put the tong on the table 9- Put the tong on the table 10- Put the spoke spoons on the table 11- Put the spoke spoons on the table 12- Put the spoke spoons on the table 13- Put the spoke spoons on the table 14- Put the spoke spoon on the table 15- Put the spoke spoon on the table 16- Put the spoke spoon on the table 17- Put the spoke spoons on the table 18- Put the spoke spoon on the table 19- Put the spoke spoon on the table 20- Put the spoke spoons on the table Q: immediate next step? \u003cPRED\u003eA: Put the spoke spoon on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please flips the bowls then seperate the green, yellow and pink candy. Then place the tongs and the forks in the bins. Q: immediate next step? \u003cPRED\u003eA: Put the spoke spoon on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the spoke spoon on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the spoke spoon on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the spoke spoon on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please flips the bowls then seperate the green, yellow and pink candy. Then place the tongs and the forks in the bins. last 20 steps: 1- Put the pink chocolate in the bowl 2- Put the green chocolate in the bowl 3- Put the green chocolate in the bowl 4- Put the green chocolate in the bowl 5- Put the green chocolate in the bowl 6- Put the green chocolate in the bowl 7- Put the green chocolate in the bowl 8- Put the tong on the table 9- Put the tong on the table 10- Put the spoke spoons on the table 11- Put the spoke spoons on the table 12- Put the spoke spoons on the table 13- Put the spoke spoons on the table 14- Put the spoke spoon on the table 15- Put the spoke spoon on the table 16- Put the spoke spoon on the table 17- Put the spoke spoons on the table 18- Put the spoke spoon on the table 19- Put the spoke spoon on the table 20- Put the spoke spoons on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the spoke spoon on the table 2- Put the spoke spoon on the table 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the spoke spoon on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11694315206864576638.mp4"}
+{"uid":"31659658249035766","text":"\u003ctask:success:discrete:False\u003e\nunsatck the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please flips the bowls then seperate the green, yellow and pink candy. Then place the tongs and the forks in the bins. last 20 steps: 1- unstack the bowl 2- unstack the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- unsatck the bowl 2- Put the yellow chocolate in the bowl 3- Put the yellow chocolate in the bowl 4- Put the yellow chocolate in the bowl 5- Put the yellow chocolate in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nunsatck the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please flips the bowls then seperate the green, yellow and pink candy. Then place the tongs and the forks in the bins. last 20 steps: 1- unstack the bowl 2- unstack the bowl Q: immediate next step? \u003cPRED\u003eA: unsatck the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: unsatck the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please flips the bowls then seperate the green, yellow and pink candy. Then place the tongs and the forks in the bins. Q: immediate next step? \u003cPRED\u003eA: unsatck the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: unsatck the bowl\n\u003c/PRED\u003e","video":"11439695381216559069.mp4"}
+{"uid":"18082975308878663455","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please flips the bowls then seperate the green, yellow and pink candy. Then place the tongs and the forks in the bins. last 20 steps: 1- unstack the bowl 2- unstack the bowl 3- unsatck the bowl 4- Put the yellow chocolate in the bowl 5- Put the yellow chocolate in the bowl 6- Put the yellow chocolate in the bowl Q: immediate next step? \u003cPRED\u003eA: Put the yellow chocolate in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please flips the bowls then seperate the green, yellow and pink candy. Then place the tongs and the forks in the bins. Q: immediate next step? \u003cPRED\u003eA: Put the yellow chocolate in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the yellow chocolate in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please flips the bowls then seperate the green, yellow and pink candy. Then place the tongs and the forks in the bins. last 20 steps: 1- unstack the bowl 2- unstack the bowl 3- unsatck the bowl 4- Put the yellow chocolate in the bowl 5- Put the yellow chocolate in the bowl 6- Put the yellow chocolate in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put the yellow chocolate in the bowl 2- Put the yellow chocolate in the bowl 3- Put the yellow chocolate in the bowl 4- Put the yellow chocolate in the bowl 5- Put the yellow chocolate in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the yellow chocolate in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the yellow chocolate in the bowl\n\u003c/PRED\u003e","video":"14418308005674946952.mp4"}
+{"uid":"5380138894540008505","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the pink chocolate in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please flips the bowls then seperate the green, yellow and pink candy. Then place the tongs and the forks in the bins. Q: immediate next step? \u003cPRED\u003eA: Put the pink chocolate in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please flips the bowls then seperate the green, yellow and pink candy. Then place the tongs and the forks in the bins. last 20 steps: 1- unstack the bowl 2- unstack the bowl 3- unsatck the bowl 4- Put the yellow chocolate in the bowl 5- Put the yellow chocolate in the bowl 6- Put the yellow chocolate in the bowl 7- Put the yellow chocolate in the bowl 8- Put the yellow chocolate in the bowl 9- Put the yellow chocolate in the bowl 10- Put the yellow chocolate in the bowl 11- Put the yellow chocolate in the bowl 12- Put the pink chocolate in the bowl 13- Put the pink chocolate in the bowl 14- Put the pink chocolate in the bowl 15- Put the pink chocolate in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put the pink chocolate in the bowl 2- Put the green chocolate in the bowl 3- Put the green chocolate in the bowl 4- Put the green chocolate in the bowl 5- Put the green chocolate in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please flips the bowls then seperate the green, yellow and pink candy. Then place the tongs and the forks in the bins. last 20 steps: 1- unstack the bowl 2- unstack the bowl 3- unsatck the bowl 4- Put the yellow chocolate in the bowl 5- Put the yellow chocolate in the bowl 6- Put the yellow chocolate in the bowl 7- Put the yellow chocolate in the bowl 8- Put the yellow chocolate in the bowl 9- Put the yellow chocolate in the bowl 10- Put the yellow chocolate in the bowl 11- Put the yellow chocolate in the bowl 12- Put the pink chocolate in the bowl 13- Put the pink chocolate in the bowl 14- Put the pink chocolate in the bowl 15- Put the pink chocolate in the bowl Q: immediate next step? \u003cPRED\u003eA: Put the pink chocolate in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the pink chocolate in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the pink chocolate in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2817488786005752315.mp4"}
+{"uid":"13598321364374543858","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput pen in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7018800253815634078.mp4"}
+{"uid":"3320315099597793864","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack the glasses Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5463487118483132889.mp4"}
+{"uid":"5882617288387173570","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the spoke spoon on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the spoke spoon on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please flips the bowls then seperate the green, yellow and pink candy. Then place the tongs and the forks in the bins. last 20 steps: 1- Put the yellow chocolate in the bowl 2- Put the yellow chocolate in the bowl 3- Put the pink chocolate in the bowl 4- Put the pink chocolate in the bowl 5- Put the pink chocolate in the bowl 6- Put the pink chocolate in the bowl 7- Put the pink chocolate in the bowl 8- Put the green chocolate in the bowl 9- Put the green chocolate in the bowl 10- Put the green chocolate in the bowl 11- Put the green chocolate in the bowl 12- Put the green chocolate in the bowl 13- Put the green chocolate in the bowl 14- Put the tong on the table 15- Put the tong on the table 16- Put the spoke spoons on the table 17- Put the spoke spoons on the table 18- Put the spoke spoons on the table 19- Put the spoke spoons on the table 20- Put the spoke spoon on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the spoke spoon on the table 2- Put the spoke spoon on the table 3- Put the spoke spoons on the table 4- Put the spoke spoon on the table 5- Put the spoke spoon on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please flips the bowls then seperate the green, yellow and pink candy. Then place the tongs and the forks in the bins. Q: immediate next step? \u003cPRED\u003eA: Put the spoke spoon on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the spoke spoon on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please flips the bowls then seperate the green, yellow and pink candy. Then place the tongs and the forks in the bins. last 20 steps: 1- Put the yellow chocolate in the bowl 2- Put the yellow chocolate in the bowl 3- Put the pink chocolate in the bowl 4- Put the pink chocolate in the bowl 5- Put the pink chocolate in the bowl 6- Put the pink chocolate in the bowl 7- Put the pink chocolate in the bowl 8- Put the green chocolate in the bowl 9- Put the green chocolate in the bowl 10- Put the green chocolate in the bowl 11- Put the green chocolate in the bowl 12- Put the green chocolate in the bowl 13- Put the green chocolate in the bowl 14- Put the tong on the table 15- Put the tong on the table 16- Put the spoke spoons on the table 17- Put the spoke spoons on the table 18- Put the spoke spoons on the table 19- Put the spoke spoons on the table 20- Put the spoke spoon on the table Q: immediate next step? \u003cPRED\u003eA: Put the spoke spoon on the table\n\u003c/PRED\u003e","video":"13894229694256554990.mp4"}
+{"uid":"3685899841781725161","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please flips the bowls then seperate the green, yellow and pink candy. Then place the tongs and the forks in the bins. last 20 steps: 1- unstack the bowl 2- unstack the bowl 3- unsatck the bowl Q: immediate next step? \u003cPRED\u003eA: Put the yellow chocolate in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the yellow chocolate in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please flips the bowls then seperate the green, yellow and pink candy. Then place the tongs and the forks in the bins. last 20 steps: 1- unstack the bowl 2- unstack the bowl 3- unsatck the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put the yellow chocolate in the bowl 2- Put the yellow chocolate in the bowl 3- Put the yellow chocolate in the bowl 4- Put the yellow chocolate in the bowl 5- Put the yellow chocolate in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please flips the bowls then seperate the green, yellow and pink candy. Then place the tongs and the forks in the bins. Q: immediate next step? \u003cPRED\u003eA: Put the yellow chocolate in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the yellow chocolate in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the yellow chocolate in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the yellow chocolate in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17021957568764949015.mp4"}
+{"uid":"8686368035767435297","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up the paper cup from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1346341797020661887.mp4"}
+{"uid":"7111029214792451346","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the spoke spoons on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please flips the bowls then seperate the green, yellow and pink candy. Then place the tongs and the forks in the bins. last 20 steps: 1- Put the yellow chocolate in the bowl 2- Put the yellow chocolate in the bowl 3- Put the yellow chocolate in the bowl 4- Put the yellow chocolate in the bowl 5- Put the yellow chocolate in the bowl 6- Put the yellow chocolate in the bowl 7- Put the pink chocolate in the bowl 8- Put the pink chocolate in the bowl 9- Put the pink chocolate in the bowl 10- Put the pink chocolate in the bowl 11- Put the pink chocolate in the bowl 12- Put the green chocolate in the bowl 13- Put the green chocolate in the bowl 14- Put the green chocolate in the bowl 15- Put the green chocolate in the bowl 16- Put the green chocolate in the bowl 17- Put the green chocolate in the bowl 18- Put the tong on the table 19- Put the tong on the table 20- Put the spoke spoons on the table Q: immediate next step? \u003cPRED\u003eA: Put the spoke spoons on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the spoke spoons on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please flips the bowls then seperate the green, yellow and pink candy. Then place the tongs and the forks in the bins. Q: immediate next step? \u003cPRED\u003eA: Put the spoke spoons on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please flips the bowls then seperate the green, yellow and pink candy. Then place the tongs and the forks in the bins. last 20 steps: 1- Put the yellow chocolate in the bowl 2- Put the yellow chocolate in the bowl 3- Put the yellow chocolate in the bowl 4- Put the yellow chocolate in the bowl 5- Put the yellow chocolate in the bowl 6- Put the yellow chocolate in the bowl 7- Put the pink chocolate in the bowl 8- Put the pink chocolate in the bowl 9- Put the pink chocolate in the bowl 10- Put the pink chocolate in the bowl 11- Put the pink chocolate in the bowl 12- Put the green chocolate in the bowl 13- Put the green chocolate in the bowl 14- Put the green chocolate in the bowl 15- Put the green chocolate in the bowl 16- Put the green chocolate in the bowl 17- Put the green chocolate in the bowl 18- Put the tong on the table 19- Put the tong on the table 20- Put the spoke spoons on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the spoke spoons on the table 2- Put the spoke spoons on the table 3- Put the spoke spoons on the table 4- Put the spoke spoon on the table 5- Put the spoke spoon on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the spoke spoons on the table\n\u003c/PRED\u003e","video":"2782499257447280182.mp4"}
+{"uid":"4996471085735828538","text":"\u003ctask:success:discrete:False\u003e\nPut the spoke spoons on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the spoke spoons on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the spoke spoons on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please flips the bowls then seperate the green, yellow and pink candy. Then place the tongs and the forks in the bins. Q: immediate next step? \u003cPRED\u003eA: Put the spoke spoons on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please flips the bowls then seperate the green, yellow and pink candy. Then place the tongs and the forks in the bins. last 20 steps: 1- Put the pink chocolate in the bowl 2- Put the pink chocolate in the bowl 3- Put the green chocolate in the bowl 4- Put the green chocolate in the bowl 5- Put the green chocolate in the bowl 6- Put the green chocolate in the bowl 7- Put the green chocolate in the bowl 8- Put the green chocolate in the bowl 9- Put the tong on the table 10- Put the tong on the table 11- Put the spoke spoons on the table 12- Put the spoke spoons on the table 13- Put the spoke spoons on the table 14- Put the spoke spoons on the table 15- Put the spoke spoon on the table 16- Put the spoke spoon on the table 17- Put the spoke spoon on the table 18- Put the spoke spoons on the table 19- Put the spoke spoon on the table 20- Put the spoke spoon on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the spoke spoons on the table 2- Put the spoke spoon on the table 3- Put the spoke spoon on the table 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the spoke spoons on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please flips the bowls then seperate the green, yellow and pink candy. Then place the tongs and the forks in the bins. last 20 steps: 1- Put the pink chocolate in the bowl 2- Put the pink chocolate in the bowl 3- Put the green chocolate in the bowl 4- Put the green chocolate in the bowl 5- Put the green chocolate in the bowl 6- Put the green chocolate in the bowl 7- Put the green chocolate in the bowl 8- Put the green chocolate in the bowl 9- Put the tong on the table 10- Put the tong on the table 11- Put the spoke spoons on the table 12- Put the spoke spoons on the table 13- Put the spoke spoons on the table 14- Put the spoke spoons on the table 15- Put the spoke spoon on the table 16- Put the spoke spoon on the table 17- Put the spoke spoon on the table 18- Put the spoke spoons on the table 19- Put the spoke spoon on the table 20- Put the spoke spoon on the table Q: immediate next step? \u003cPRED\u003eA: Put the spoke spoons on the table\n\u003c/PRED\u003e","video":"2018122360630936569.mp4"}
+{"uid":"7963517040824153337","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: unstack the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please flips the bowls then seperate the green, yellow and pink candy. Then place the tongs and the forks in the bins. last 20 steps: 1- unstack the bowl Q: immediate next step? \u003cPRED\u003eA: unstack the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please flips the bowls then seperate the green, yellow and pink candy. Then place the tongs and the forks in the bins. last 20 steps: 1- unstack the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- unstack the bowl 2- unsatck the bowl 3- Put the yellow chocolate in the bowl 4- Put the yellow chocolate in the bowl 5- Put the yellow chocolate in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: unstack the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nunstack the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please flips the bowls then seperate the green, yellow and pink candy. Then place the tongs and the forks in the bins. Q: immediate next step? \u003cPRED\u003eA: unstack the bowl\n\u003c/PRED\u003e","video":"1145535365202238088.mp4"}
+{"uid":"2135906413849650354","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put fruit in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut fruit in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put fruit in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the fruits into the bowl Q: immediate next step? \u003cPRED\u003eA: Put fruit in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the fruits into the bowl. last 20 steps: 1- Put banana in the bowl 2- Put banana in the bowl 3- Put banana in the bowl 4- Put banana in the bowl 5- Put fruit in the bowl 6- Put fruit in the bowl 7- Put fruit in the bowl Q: immediate next step? \u003cPRED\u003eA: Put fruit in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the fruits into the bowl. last 20 steps: 1- Put banana in the bowl 2- Put banana in the bowl 3- Put banana in the bowl 4- Put banana in the bowl 5- Put fruit in the bowl 6- Put fruit in the bowl 7- Put fruit in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put fruit in the bowl 2- Put fruit in the bowl 3- Put apple in the bowl 4- Put fruit in the bowl 5- done\n\u003c/PRED\u003e","video":"5281205602599974848.mp4"}
+{"uid":"10145950999519263902","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5858312614754587685.mp4"}
+{"uid":"15276231917743586793","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the fruits into the bowl. last 20 steps: 1- Put banana in the bowl 2- Put banana in the bowl 3- Put banana in the bowl 4- Put banana in the bowl 5- Put fruit in the bowl 6- Put fruit in the bowl 7- Put fruit in the bowl 8- Put fruit in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put fruit in the bowl 2- Put apple in the bowl 3- Put fruit in the bowl 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the fruits into the bowl. last 20 steps: 1- Put banana in the bowl 2- Put banana in the bowl 3- Put banana in the bowl 4- Put banana in the bowl 5- Put fruit in the bowl 6- Put fruit in the bowl 7- Put fruit in the bowl 8- Put fruit in the bowl Q: immediate next step? \u003cPRED\u003eA: Put fruit in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put fruit in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut fruit in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put fruit in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the fruits into the bowl Q: immediate next step? \u003cPRED\u003eA: Put fruit in the bowl\n\u003c/PRED\u003e","video":"10067169241002572479.mp4"}
+{"uid":"4550256916360210271","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Please flips the bowls then seperate the green, yellow and pink candy. Then place the tongs and the forks in the bins. Q: immediate next step? \u003cPRED\u003eA: Put the green chocolate in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please flips the bowls then seperate the green, yellow and pink candy. Then place the tongs and the forks in the bins. last 20 steps: 1- unstack the bowl 2- unsatck the bowl 3- Put the yellow chocolate in the bowl 4- Put the yellow chocolate in the bowl 5- Put the yellow chocolate in the bowl 6- Put the yellow chocolate in the bowl 7- Put the yellow chocolate in the bowl 8- Put the yellow chocolate in the bowl 9- Put the yellow chocolate in the bowl 10- Put the yellow chocolate in the bowl 11- Put the pink chocolate in the bowl 12- Put the pink chocolate in the bowl 13- Put the pink chocolate in the bowl 14- Put the pink chocolate in the bowl 15- Put the pink chocolate in the bowl 16- Put the green chocolate in the bowl 17- Put the green chocolate in the bowl 18- Put the green chocolate in the bowl 19- Put the green chocolate in the bowl 20- Put the green chocolate in the bowl Q: immediate next step? \u003cPRED\u003eA: Put the green chocolate in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the green chocolate in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the green chocolate in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the green chocolate in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please flips the bowls then seperate the green, yellow and pink candy. Then place the tongs and the forks in the bins. last 20 steps: 1- unstack the bowl 2- unsatck the bowl 3- Put the yellow chocolate in the bowl 4- Put the yellow chocolate in the bowl 5- Put the yellow chocolate in the bowl 6- Put the yellow chocolate in the bowl 7- Put the yellow chocolate in the bowl 8- Put the yellow chocolate in the bowl 9- Put the yellow chocolate in the bowl 10- Put the yellow chocolate in the bowl 11- Put the pink chocolate in the bowl 12- Put the pink chocolate in the bowl 13- Put the pink chocolate in the bowl 14- Put the pink chocolate in the bowl 15- Put the pink chocolate in the bowl 16- Put the green chocolate in the bowl 17- Put the green chocolate in the bowl 18- Put the green chocolate in the bowl 19- Put the green chocolate in the bowl 20- Put the green chocolate in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put the green chocolate in the bowl 2- Put the tong on the table 3- Put the tong on the table 4- Put the spoke spoons on the table 5- Put the spoke spoons on the table\n\u003c/PRED\u003e","video":"16078164377695313894.mp4"}
+{"uid":"5365624595287287420","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the yellow chocolate in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please flips the bowls then seperate the green, yellow and pink candy. Then place the tongs and the forks in the bins. Q: immediate next step? \u003cPRED\u003eA: Put the yellow chocolate in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the yellow chocolate in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the yellow chocolate in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please flips the bowls then seperate the green, yellow and pink candy. Then place the tongs and the forks in the bins. last 20 steps: 1- unstack the bowl 2- unstack the bowl 3- unsatck the bowl 4- Put the yellow chocolate in the bowl 5- Put the yellow chocolate in the bowl Q: immediate next step? \u003cPRED\u003eA: Put the yellow chocolate in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please flips the bowls then seperate the green, yellow and pink candy. Then place the tongs and the forks in the bins. last 20 steps: 1- unstack the bowl 2- unstack the bowl 3- unsatck the bowl 4- Put the yellow chocolate in the bowl 5- Put the yellow chocolate in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put the yellow chocolate in the bowl 2- Put the yellow chocolate in the bowl 3- Put the yellow chocolate in the bowl 4- Put the yellow chocolate in the bowl 5- Put the yellow chocolate in the bowl\n\u003c/PRED\u003e","video":"5273137118831905928.mp4"}
+{"uid":"1804487858597716319","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop pen into stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"49291611647569500.mp4"}
+{"uid":"16401705290989610370","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the spoke spoons on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the spoke spoons on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please flips the bowls then seperate the green, yellow and pink candy. Then place the tongs and the forks in the bins. Q: immediate next step? \u003cPRED\u003eA: Put the spoke spoons on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please flips the bowls then seperate the green, yellow and pink candy. Then place the tongs and the forks in the bins. last 20 steps: 1- Put the yellow chocolate in the bowl 2- Put the yellow chocolate in the bowl 3- Put the yellow chocolate in the bowl 4- Put the yellow chocolate in the bowl 5- Put the pink chocolate in the bowl 6- Put the pink chocolate in the bowl 7- Put the pink chocolate in the bowl 8- Put the pink chocolate in the bowl 9- Put the pink chocolate in the bowl 10- Put the green chocolate in the bowl 11- Put the green chocolate in the bowl 12- Put the green chocolate in the bowl 13- Put the green chocolate in the bowl 14- Put the green chocolate in the bowl 15- Put the green chocolate in the bowl 16- Put the tong on the table 17- Put the tong on the table 18- Put the spoke spoons on the table 19- Put the spoke spoons on the table 20- Put the spoke spoons on the table Q: immediate next step? \u003cPRED\u003eA: Put the spoke spoons on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please flips the bowls then seperate the green, yellow and pink candy. Then place the tongs and the forks in the bins. last 20 steps: 1- Put the yellow chocolate in the bowl 2- Put the yellow chocolate in the bowl 3- Put the yellow chocolate in the bowl 4- Put the yellow chocolate in the bowl 5- Put the pink chocolate in the bowl 6- Put the pink chocolate in the bowl 7- Put the pink chocolate in the bowl 8- Put the pink chocolate in the bowl 9- Put the pink chocolate in the bowl 10- Put the green chocolate in the bowl 11- Put the green chocolate in the bowl 12- Put the green chocolate in the bowl 13- Put the green chocolate in the bowl 14- Put the green chocolate in the bowl 15- Put the green chocolate in the bowl 16- Put the tong on the table 17- Put the tong on the table 18- Put the spoke spoons on the table 19- Put the spoke spoons on the table 20- Put the spoke spoons on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the spoke spoons on the table 2- Put the spoke spoon on the table 3- Put the spoke spoon on the table 4- Put the spoke spoon on the table 5- Put the spoke spoons on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the spoke spoons on the table\n\u003c/PRED\u003e","video":"16902953476428365934.mp4"}
+{"uid":"1744312796793798843","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the fork in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13596593964523794053.mp4"}
+{"uid":"12923428877565654211","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput black pen in holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11314927645098578409.mp4"}
+{"uid":"6842665107177550030","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the spoke spoons on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the spoke spoons on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the spoke spoons on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please flips the bowls then seperate the green, yellow and pink candy. Then place the tongs and the forks in the bins. last 20 steps: 1- Put the yellow chocolate in the bowl 2- Put the yellow chocolate in the bowl 3- Put the yellow chocolate in the bowl 4- Put the yellow chocolate in the bowl 5- Put the yellow chocolate in the bowl 6- Put the pink chocolate in the bowl 7- Put the pink chocolate in the bowl 8- Put the pink chocolate in the bowl 9- Put the pink chocolate in the bowl 10- Put the pink chocolate in the bowl 11- Put the green chocolate in the bowl 12- Put the green chocolate in the bowl 13- Put the green chocolate in the bowl 14- Put the green chocolate in the bowl 15- Put the green chocolate in the bowl 16- Put the green chocolate in the bowl 17- Put the tong on the table 18- Put the tong on the table 19- Put the spoke spoons on the table 20- Put the spoke spoons on the table Q: immediate next step? \u003cPRED\u003eA: Put the spoke spoons on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please flips the bowls then seperate the green, yellow and pink candy. Then place the tongs and the forks in the bins. Q: immediate next step? \u003cPRED\u003eA: Put the spoke spoons on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please flips the bowls then seperate the green, yellow and pink candy. Then place the tongs and the forks in the bins. last 20 steps: 1- Put the yellow chocolate in the bowl 2- Put the yellow chocolate in the bowl 3- Put the yellow chocolate in the bowl 4- Put the yellow chocolate in the bowl 5- Put the yellow chocolate in the bowl 6- Put the pink chocolate in the bowl 7- Put the pink chocolate in the bowl 8- Put the pink chocolate in the bowl 9- Put the pink chocolate in the bowl 10- Put the pink chocolate in the bowl 11- Put the green chocolate in the bowl 12- Put the green chocolate in the bowl 13- Put the green chocolate in the bowl 14- Put the green chocolate in the bowl 15- Put the green chocolate in the bowl 16- Put the green chocolate in the bowl 17- Put the tong on the table 18- Put the tong on the table 19- Put the spoke spoons on the table 20- Put the spoke spoons on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the spoke spoons on the table 2- Put the spoke spoons on the table 3- Put the spoke spoon on the table 4- Put the spoke spoon on the table 5- Put the spoke spoon on the table\n\u003c/PRED\u003e","video":"1324166833481643110.mp4"}
+{"uid":"5551527609619118792","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please flips the bowls then seperate the green, yellow and pink candy. Then place the tongs and the forks in the bins. last 20 steps: 1- unstack the bowl 2- unstack the bowl 3- unsatck the bowl 4- Put the yellow chocolate in the bowl Q: immediate next step? \u003cPRED\u003eA: Put the yellow chocolate in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the yellow chocolate in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please flips the bowls then seperate the green, yellow and pink candy. Then place the tongs and the forks in the bins. last 20 steps: 1- unstack the bowl 2- unstack the bowl 3- unsatck the bowl 4- Put the yellow chocolate in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put the yellow chocolate in the bowl 2- Put the yellow chocolate in the bowl 3- Put the yellow chocolate in the bowl 4- Put the yellow chocolate in the bowl 5- Put the yellow chocolate in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the yellow chocolate in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the yellow chocolate in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please flips the bowls then seperate the green, yellow and pink candy. Then place the tongs and the forks in the bins. Q: immediate next step? \u003cPRED\u003eA: Put the yellow chocolate in the bowl\n\u003c/PRED\u003e","video":"3208268402768339457.mp4"}
+{"uid":"12150019719057244298","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput sticky notes in the organiser Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11723303522030585115.mp4"}
+{"uid":"14788909864807092458","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the paper bowl on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4501484654089570158.mp4"}
+{"uid":"2867307145634543539","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput apple on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3138299844592913596.mp4"}
+{"uid":"2889305161592453239","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace bowl on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9690891517625280362.mp4"}
+{"uid":"10116577726360205870","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please flips the bowls then seperate the green, yellow and pink candy. Then place the tongs and the forks in the bins. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- unstack the bowl 2- unstack the bowl 3- unsatck the bowl 4- Put the yellow chocolate in the bowl 5- Put the yellow chocolate in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please flips the bowls then seperate the green, yellow and pink candy. Then place the tongs and the forks in the bins. Q: immediate next step? \u003cPRED\u003eA: unstack the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nunstack the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please flips the bowls then seperate the green, yellow and pink candy. Then place the tongs and the forks in the bins. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: unstack the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nunstack the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: unstack the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: unstack the bowl\n\u003c/PRED\u003e","video":"17125040094508362958.mp4"}
+{"uid":"11436122887355193696","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the spoke spoons on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the spoke spoons on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please flips the bowls then seperate the green, yellow and pink candy. Then place the tongs and the forks in the bins. last 20 steps: 1- Put the yellow chocolate in the bowl 2- Put the yellow chocolate in the bowl 3- Put the yellow chocolate in the bowl 4- Put the yellow chocolate in the bowl 5- Put the yellow chocolate in the bowl 6- Put the yellow chocolate in the bowl 7- Put the yellow chocolate in the bowl 8- Put the pink chocolate in the bowl 9- Put the pink chocolate in the bowl 10- Put the pink chocolate in the bowl 11- Put the pink chocolate in the bowl 12- Put the pink chocolate in the bowl 13- Put the green chocolate in the bowl 14- Put the green chocolate in the bowl 15- Put the green chocolate in the bowl 16- Put the green chocolate in the bowl 17- Put the green chocolate in the bowl 18- Put the green chocolate in the bowl 19- Put the tong on the table 20- Put the tong on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the spoke spoons on the table 2- Put the spoke spoons on the table 3- Put the spoke spoons on the table 4- Put the spoke spoons on the table 5- Put the spoke spoon on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please flips the bowls then seperate the green, yellow and pink candy. Then place the tongs and the forks in the bins. Q: immediate next step? \u003cPRED\u003eA: Put the spoke spoons on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the spoke spoons on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the spoke spoons on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please flips the bowls then seperate the green, yellow and pink candy. Then place the tongs and the forks in the bins. last 20 steps: 1- Put the yellow chocolate in the bowl 2- Put the yellow chocolate in the bowl 3- Put the yellow chocolate in the bowl 4- Put the yellow chocolate in the bowl 5- Put the yellow chocolate in the bowl 6- Put the yellow chocolate in the bowl 7- Put the yellow chocolate in the bowl 8- Put the pink chocolate in the bowl 9- Put the pink chocolate in the bowl 10- Put the pink chocolate in the bowl 11- Put the pink chocolate in the bowl 12- Put the pink chocolate in the bowl 13- Put the green chocolate in the bowl 14- Put the green chocolate in the bowl 15- Put the green chocolate in the bowl 16- Put the green chocolate in the bowl 17- Put the green chocolate in the bowl 18- Put the green chocolate in the bowl 19- Put the tong on the table 20- Put the tong on the table Q: immediate next step? \u003cPRED\u003eA: Put the spoke spoons on the table\n\u003c/PRED\u003e","video":"11921212429280152956.mp4"}
+{"uid":"6904417094432665968","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the yellow chocolate in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please flips the bowls then seperate the green, yellow and pink candy. Then place the tongs and the forks in the bins. last 20 steps: 1- unstack the bowl 2- unstack the bowl 3- unsatck the bowl 4- Put the yellow chocolate in the bowl 5- Put the yellow chocolate in the bowl 6- Put the yellow chocolate in the bowl 7- Put the yellow chocolate in the bowl 8- Put the yellow chocolate in the bowl 9- Put the yellow chocolate in the bowl 10- Put the yellow chocolate in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put the yellow chocolate in the bowl 2- Put the pink chocolate in the bowl 3- Put the pink chocolate in the bowl 4- Put the pink chocolate in the bowl 5- Put the pink chocolate in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please flips the bowls then seperate the green, yellow and pink candy. Then place the tongs and the forks in the bins. last 20 steps: 1- unstack the bowl 2- unstack the bowl 3- unsatck the bowl 4- Put the yellow chocolate in the bowl 5- Put the yellow chocolate in the bowl 6- Put the yellow chocolate in the bowl 7- Put the yellow chocolate in the bowl 8- Put the yellow chocolate in the bowl 9- Put the yellow chocolate in the bowl 10- Put the yellow chocolate in the bowl Q: immediate next step? \u003cPRED\u003eA: Put the yellow chocolate in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please flips the bowls then seperate the green, yellow and pink candy. Then place the tongs and the forks in the bins. Q: immediate next step? \u003cPRED\u003eA: Put the yellow chocolate in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the yellow chocolate in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the yellow chocolate in the bowl\n\u003c/PRED\u003e","video":"12531077022141686517.mp4"}
+{"uid":"9039756062270927721","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the apple in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17685026944305388731.mp4"}
+{"uid":"13294778764886122350","text":"\u003ctask:success:discrete:True\u003e\nPut the spoke spoons on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the spoke spoons on the table\n\u003c/PRED\u003e","video":"7880112794191788706.mp4"}
+{"uid":"7029387719857839717","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the spoke spoon on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please flips the bowls then seperate the green, yellow and pink candy. Then place the tongs and the forks in the bins. last 20 steps: 1- Put the pink chocolate in the bowl 2- Put the pink chocolate in the bowl 3- Put the pink chocolate in the bowl 4- Put the green chocolate in the bowl 5- Put the green chocolate in the bowl 6- Put the green chocolate in the bowl 7- Put the green chocolate in the bowl 8- Put the green chocolate in the bowl 9- Put the green chocolate in the bowl 10- Put the tong on the table 11- Put the tong on the table 12- Put the spoke spoons on the table 13- Put the spoke spoons on the table 14- Put the spoke spoons on the table 15- Put the spoke spoons on the table 16- Put the spoke spoon on the table 17- Put the spoke spoon on the table 18- Put the spoke spoon on the table 19- Put the spoke spoons on the table 20- Put the spoke spoon on the table Q: immediate next step? \u003cPRED\u003eA: Put the spoke spoon on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please flips the bowls then seperate the green, yellow and pink candy. Then place the tongs and the forks in the bins. last 20 steps: 1- Put the pink chocolate in the bowl 2- Put the pink chocolate in the bowl 3- Put the pink chocolate in the bowl 4- Put the green chocolate in the bowl 5- Put the green chocolate in the bowl 6- Put the green chocolate in the bowl 7- Put the green chocolate in the bowl 8- Put the green chocolate in the bowl 9- Put the green chocolate in the bowl 10- Put the tong on the table 11- Put the tong on the table 12- Put the spoke spoons on the table 13- Put the spoke spoons on the table 14- Put the spoke spoons on the table 15- Put the spoke spoons on the table 16- Put the spoke spoon on the table 17- Put the spoke spoon on the table 18- Put the spoke spoon on the table 19- Put the spoke spoons on the table 20- Put the spoke spoon on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the spoke spoon on the table 2- Put the spoke spoons on the table 3- Put the spoke spoon on the table 4- Put the spoke spoon on the table 5- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please flips the bowls then seperate the green, yellow and pink candy. Then place the tongs and the forks in the bins. Q: immediate next step? \u003cPRED\u003eA: Put the spoke spoon on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the spoke spoon on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the spoke spoon on the table\n\u003c/PRED\u003e","video":"504427500665072793.mp4"}
+{"uid":"14275506109309288387","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the fruits into the bowl. last 20 steps: 1- Put banana in the bowl 2- Put banana in the bowl 3- Put banana in the bowl 4- Put banana in the bowl 5- Put fruit in the bowl 6- Put fruit in the bowl 7- Put fruit in the bowl 8- Put fruit in the bowl 9- Put fruit in the bowl 10- Put apple in the bowl Q: immediate next step? \u003cPRED\u003eA: Put fruit in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut fruit in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the fruits into the bowl Q: immediate next step? \u003cPRED\u003eA: Put fruit in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put fruit in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the fruits into the bowl. last 20 steps: 1- Put banana in the bowl 2- Put banana in the bowl 3- Put banana in the bowl 4- Put banana in the bowl 5- Put fruit in the bowl 6- Put fruit in the bowl 7- Put fruit in the bowl 8- Put fruit in the bowl 9- Put fruit in the bowl 10- Put apple in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put fruit in the bowl 2- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut fruit in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put fruit in the bowl\n\u003c/PRED\u003e","video":"12456527697455891189.mp4"}
+{"uid":"10775794057506732305","text":"\u003ctask:success:discrete:False\u003e\nPut the green chocolate in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please flips the bowls then seperate the green, yellow and pink candy. Then place the tongs and the forks in the bins. last 20 steps: 1- unstack the bowl 2- unstack the bowl 3- unsatck the bowl 4- Put the yellow chocolate in the bowl 5- Put the yellow chocolate in the bowl 6- Put the yellow chocolate in the bowl 7- Put the yellow chocolate in the bowl 8- Put the yellow chocolate in the bowl 9- Put the yellow chocolate in the bowl 10- Put the yellow chocolate in the bowl 11- Put the yellow chocolate in the bowl 12- Put the pink chocolate in the bowl 13- Put the pink chocolate in the bowl 14- Put the pink chocolate in the bowl 15- Put the pink chocolate in the bowl 16- Put the pink chocolate in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put the green chocolate in the bowl 2- Put the green chocolate in the bowl 3- Put the green chocolate in the bowl 4- Put the green chocolate in the bowl 5- Put the green chocolate in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the green chocolate in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the green chocolate in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please flips the bowls then seperate the green, yellow and pink candy. Then place the tongs and the forks in the bins. Q: immediate next step? \u003cPRED\u003eA: Put the green chocolate in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please flips the bowls then seperate the green, yellow and pink candy. Then place the tongs and the forks in the bins. last 20 steps: 1- unstack the bowl 2- unstack the bowl 3- unsatck the bowl 4- Put the yellow chocolate in the bowl 5- Put the yellow chocolate in the bowl 6- Put the yellow chocolate in the bowl 7- Put the yellow chocolate in the bowl 8- Put the yellow chocolate in the bowl 9- Put the yellow chocolate in the bowl 10- Put the yellow chocolate in the bowl 11- Put the yellow chocolate in the bowl 12- Put the pink chocolate in the bowl 13- Put the pink chocolate in the bowl 14- Put the pink chocolate in the bowl 15- Put the pink chocolate in the bowl 16- Put the pink chocolate in the bowl Q: immediate next step? \u003cPRED\u003eA: Put the green chocolate in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the green chocolate in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5887066341604976621.mp4"}
+{"uid":"7651610185234721187","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npull the green bag Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15604403582028727230.mp4"}
+{"uid":"14988474577777599346","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput pistachio in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8203241119451999947.mp4"}
+{"uid":"8124265638281430265","text":"\u003ctask:success:discrete:True\u003e\nunstack the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: unstack the bowl\n\u003c/PRED\u003e","video":"12506570785001670829.mp4"}
+{"uid":"16544470254189201028","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the paper cups in the glass stand from the stacked paper glasses Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3289488235802618722.mp4"}
+{"uid":"10071210393538113653","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Please flips the bowls then seperate the green, yellow and pink candy. Then place the tongs and the forks in the bins. Q: immediate next step? \u003cPRED\u003eA: Put the yellow chocolate in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the yellow chocolate in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the yellow chocolate in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please flips the bowls then seperate the green, yellow and pink candy. Then place the tongs and the forks in the bins. last 20 steps: 1- unstack the bowl 2- unstack the bowl 3- unsatck the bowl 4- Put the yellow chocolate in the bowl 5- Put the yellow chocolate in the bowl 6- Put the yellow chocolate in the bowl 7- Put the yellow chocolate in the bowl 8- Put the yellow chocolate in the bowl Q: immediate next step? \u003cPRED\u003eA: Put the yellow chocolate in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please flips the bowls then seperate the green, yellow and pink candy. Then place the tongs and the forks in the bins. last 20 steps: 1- unstack the bowl 2- unstack the bowl 3- unsatck the bowl 4- Put the yellow chocolate in the bowl 5- Put the yellow chocolate in the bowl 6- Put the yellow chocolate in the bowl 7- Put the yellow chocolate in the bowl 8- Put the yellow chocolate in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put the yellow chocolate in the bowl 2- Put the yellow chocolate in the bowl 3- Put the yellow chocolate in the bowl 4- Put the pink chocolate in the bowl 5- Put the pink chocolate in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the yellow chocolate in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6765072766908455464.mp4"}
+{"uid":"11340709145398167006","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the spoke spoons on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the spoke spoons on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please flips the bowls then seperate the green, yellow and pink candy. Then place the tongs and the forks in the bins. Q: immediate next step? \u003cPRED\u003eA: Put the spoke spoons on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please flips the bowls then seperate the green, yellow and pink candy. Then place the tongs and the forks in the bins. last 20 steps: 1- Put the pink chocolate in the bowl 2- Put the pink chocolate in the bowl 3- Put the pink chocolate in the bowl 4- Put the pink chocolate in the bowl 5- Put the pink chocolate in the bowl 6- Put the green chocolate in the bowl 7- Put the green chocolate in the bowl 8- Put the green chocolate in the bowl 9- Put the green chocolate in the bowl 10- Put the green chocolate in the bowl 11- Put the green chocolate in the bowl 12- Put the tong on the table 13- Put the tong on the table 14- Put the spoke spoons on the table 15- Put the spoke spoons on the table 16- Put the spoke spoons on the table 17- Put the spoke spoons on the table 18- Put the spoke spoon on the table 19- Put the spoke spoon on the table 20- Put the spoke spoon on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the spoke spoons on the table 2- Put the spoke spoon on the table 3- Put the spoke spoon on the table 4- Put the spoke spoons on the table 5- Put the spoke spoon on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the spoke spoons on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please flips the bowls then seperate the green, yellow and pink candy. Then place the tongs and the forks in the bins. last 20 steps: 1- Put the pink chocolate in the bowl 2- Put the pink chocolate in the bowl 3- Put the pink chocolate in the bowl 4- Put the pink chocolate in the bowl 5- Put the pink chocolate in the bowl 6- Put the green chocolate in the bowl 7- Put the green chocolate in the bowl 8- Put the green chocolate in the bowl 9- Put the green chocolate in the bowl 10- Put the green chocolate in the bowl 11- Put the green chocolate in the bowl 12- Put the tong on the table 13- Put the tong on the table 14- Put the spoke spoons on the table 15- Put the spoke spoons on the table 16- Put the spoke spoons on the table 17- Put the spoke spoons on the table 18- Put the spoke spoon on the table 19- Put the spoke spoon on the table 20- Put the spoke spoon on the table Q: immediate next step? \u003cPRED\u003eA: Put the spoke spoons on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the spoke spoons on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6258783889307134447.mp4"}
+{"uid":"9191226381479904399","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pista into the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16866614293084242117.mp4"}
+{"uid":"10261489416777112932","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npickup green color packet kept on the table and place green color packet in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18085983117723427295.mp4"}
+{"uid":"18296846525738762150","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up the brown box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6816640844093558122.mp4"}
+{"uid":"17813341490711670657","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the blue pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5785562290739108062.mp4"}
+{"uid":"15101190316513553391","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Please flips the bowls then seperate the green, yellow and pink candy. Then place the tongs and the forks in the bins. Q: immediate next step? \u003cPRED\u003eA: Put the pink chocolate in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the pink chocolate in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the pink chocolate in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the pink chocolate in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please flips the bowls then seperate the green, yellow and pink candy. Then place the tongs and the forks in the bins. last 20 steps: 1- unstack the bowl 2- unstack the bowl 3- unsatck the bowl 4- Put the yellow chocolate in the bowl 5- Put the yellow chocolate in the bowl 6- Put the yellow chocolate in the bowl 7- Put the yellow chocolate in the bowl 8- Put the yellow chocolate in the bowl 9- Put the yellow chocolate in the bowl 10- Put the yellow chocolate in the bowl 11- Put the yellow chocolate in the bowl 12- Put the pink chocolate in the bowl 13- Put the pink chocolate in the bowl 14- Put the pink chocolate in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put the pink chocolate in the bowl 2- Put the pink chocolate in the bowl 3- Put the green chocolate in the bowl 4- Put the green chocolate in the bowl 5- Put the green chocolate in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please flips the bowls then seperate the green, yellow and pink candy. Then place the tongs and the forks in the bins. last 20 steps: 1- unstack the bowl 2- unstack the bowl 3- unsatck the bowl 4- Put the yellow chocolate in the bowl 5- Put the yellow chocolate in the bowl 6- Put the yellow chocolate in the bowl 7- Put the yellow chocolate in the bowl 8- Put the yellow chocolate in the bowl 9- Put the yellow chocolate in the bowl 10- Put the yellow chocolate in the bowl 11- Put the yellow chocolate in the bowl 12- Put the pink chocolate in the bowl 13- Put the pink chocolate in the bowl 14- Put the pink chocolate in the bowl Q: immediate next step? \u003cPRED\u003eA: Put the pink chocolate in the bowl\n\u003c/PRED\u003e","video":"17977947088659036609.mp4"}
+{"uid":"1220259580591367824","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the tong on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the tong on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17060511763306912762.mp4"}
+{"uid":"664569611294005414","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please flips the bowls then seperate the green, yellow and pink candy. Then place the tongs and the forks in the bins. last 20 steps: 1- unstack the bowl 2- unstack the bowl 3- unsatck the bowl 4- Put the yellow chocolate in the bowl 5- Put the yellow chocolate in the bowl 6- Put the yellow chocolate in the bowl 7- Put the yellow chocolate in the bowl 8- Put the yellow chocolate in the bowl 9- Put the yellow chocolate in the bowl 10- Put the yellow chocolate in the bowl 11- Put the yellow chocolate in the bowl 12- Put the pink chocolate in the bowl 13- Put the pink chocolate in the bowl 14- Put the pink chocolate in the bowl 15- Put the pink chocolate in the bowl 16- Put the pink chocolate in the bowl 17- Put the green chocolate in the bowl 18- Put the green chocolate in the bowl 19- Put the green chocolate in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put the green chocolate in the bowl 2- Put the green chocolate in the bowl 3- Put the green chocolate in the bowl 4- Put the tong on the table 5- Put the tong on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the green chocolate in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the green chocolate in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please flips the bowls then seperate the green, yellow and pink candy. Then place the tongs and the forks in the bins. last 20 steps: 1- unstack the bowl 2- unstack the bowl 3- unsatck the bowl 4- Put the yellow chocolate in the bowl 5- Put the yellow chocolate in the bowl 6- Put the yellow chocolate in the bowl 7- Put the yellow chocolate in the bowl 8- Put the yellow chocolate in the bowl 9- Put the yellow chocolate in the bowl 10- Put the yellow chocolate in the bowl 11- Put the yellow chocolate in the bowl 12- Put the pink chocolate in the bowl 13- Put the pink chocolate in the bowl 14- Put the pink chocolate in the bowl 15- Put the pink chocolate in the bowl 16- Put the pink chocolate in the bowl 17- Put the green chocolate in the bowl 18- Put the green chocolate in the bowl 19- Put the green chocolate in the bowl Q: immediate next step? \u003cPRED\u003eA: Put the green chocolate in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the green chocolate in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please flips the bowls then seperate the green, yellow and pink candy. Then place the tongs and the forks in the bins. Q: immediate next step? \u003cPRED\u003eA: Put the green chocolate in the bowl\n\u003c/PRED\u003e","video":"125357270889594974.mp4"}
+{"uid":"7077886368195114086","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the tissue paper on the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16586239437065352963.mp4"}
+{"uid":"3185187666958003095","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut fruit in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the fruits into the bowl. last 20 steps: 1- Put banana in the bowl 2- Put banana in the bowl 3- Put banana in the bowl 4- Put banana in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put fruit in the bowl 2- Put fruit in the bowl 3- Put fruit in the bowl 4- Put fruit in the bowl 5- Put fruit in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the fruits into the bowl Q: immediate next step? \u003cPRED\u003eA: Put fruit in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the fruits into the bowl. last 20 steps: 1- Put banana in the bowl 2- Put banana in the bowl 3- Put banana in the bowl 4- Put banana in the bowl Q: immediate next step? \u003cPRED\u003eA: Put fruit in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut fruit in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put fruit in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put fruit in the bowl\n\u003c/PRED\u003e","video":"13833665462254279644.mp4"}
+{"uid":"6720231334340201603","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nOpen the first drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12354009636975261345.mp4"}
+{"uid":"14970104593928577794","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the fruits into the bowl. last 20 steps: 1- Put banana in the bowl 2- Put banana in the bowl 3- Put banana in the bowl 4- Put banana in the bowl 5- Put fruit in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put fruit in the bowl 2- Put fruit in the bowl 3- Put fruit in the bowl 4- Put fruit in the bowl 5- Put apple in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut fruit in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the fruits into the bowl. last 20 steps: 1- Put banana in the bowl 2- Put banana in the bowl 3- Put banana in the bowl 4- Put banana in the bowl 5- Put fruit in the bowl Q: immediate next step? \u003cPRED\u003eA: Put fruit in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the fruits into the bowl Q: immediate next step? \u003cPRED\u003eA: Put fruit in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put fruit in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put fruit in the bowl\n\u003c/PRED\u003e","video":"11033542736362790933.mp4"}
+{"uid":"2429050594246535697","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pen on the black tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8600023655351779930.mp4"}
+{"uid":"446706434530871335","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Please flips the bowls then seperate the green, yellow and pink candy. Then place the tongs and the forks in the bins. Q: immediate next step? \u003cPRED\u003eA: Put the spoke spoon on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the spoke spoon on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the spoke spoon on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please flips the bowls then seperate the green, yellow and pink candy. Then place the tongs and the forks in the bins. last 20 steps: 1- Put the green chocolate in the bowl 2- Put the green chocolate in the bowl 3- Put the green chocolate in the bowl 4- Put the green chocolate in the bowl 5- Put the green chocolate in the bowl 6- Put the green chocolate in the bowl 7- Put the tong on the table 8- Put the tong on the table 9- Put the spoke spoons on the table 10- Put the spoke spoons on the table 11- Put the spoke spoons on the table 12- Put the spoke spoons on the table 13- Put the spoke spoon on the table 14- Put the spoke spoon on the table 15- Put the spoke spoon on the table 16- Put the spoke spoons on the table 17- Put the spoke spoon on the table 18- Put the spoke spoon on the table 19- Put the spoke spoons on the table 20- Put the spoke spoon on the table Q: immediate next step? \u003cPRED\u003eA: Put the spoke spoon on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please flips the bowls then seperate the green, yellow and pink candy. Then place the tongs and the forks in the bins. last 20 steps: 1- Put the green chocolate in the bowl 2- Put the green chocolate in the bowl 3- Put the green chocolate in the bowl 4- Put the green chocolate in the bowl 5- Put the green chocolate in the bowl 6- Put the green chocolate in the bowl 7- Put the tong on the table 8- Put the tong on the table 9- Put the spoke spoons on the table 10- Put the spoke spoons on the table 11- Put the spoke spoons on the table 12- Put the spoke spoons on the table 13- Put the spoke spoon on the table 14- Put the spoke spoon on the table 15- Put the spoke spoon on the table 16- Put the spoke spoons on the table 17- Put the spoke spoon on the table 18- Put the spoke spoon on the table 19- Put the spoke spoons on the table 20- Put the spoke spoon on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the spoke spoon on the table 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the spoke spoon on the table\n\u003c/PRED\u003e","video":"9844404407035313014.mp4"}
+{"uid":"14032982081148076586","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop it in the brown rack Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1026757412532600098.mp4"}
+{"uid":"16404219837630746249","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the orange in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16806804423247669261.mp4"}
+{"uid":"15155317364902242294","text":"\u003ctask:success:discrete:True\u003e\ndrop the marker into the pen stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the marker into the pen stand\n\u003c/PRED\u003e","video":"15232067098388536168.mp4"}
+{"uid":"8500831714614570450","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Clean the whiteboard\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Clean the whiteboard\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nClean the whiteboard Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nClean the whiteboard Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I'm done with my meeting. Clean up the phone room. last 20 steps: 1- Put the pen in the holder 2- Put the sticky notes in the holder 3- Pick up the clothe Q: next 5 steps? \u003cPRED\u003eA: 1- Clean the whiteboard 2- Hang the clothe 3- Switch of the lights 4- Close the door 5- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I'm done with my meeting. Clean up the phone room. last 20 steps: 1- Put the pen in the holder 2- Put the sticky notes in the holder 3- Pick up the clothe Q: immediate next step? \u003cPRED\u003eA: Clean the whiteboard\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I'm done with my meeting. Clean up the phone room. Q: immediate next step? \u003cPRED\u003eA: Clean the whiteboard\n\u003c/PRED\u003e","video":"15191848513145035212.mp4"}
+{"uid":"6711457977606482973","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the toy in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10091786346159857530.mp4"}
+{"uid":"7878847064468369850","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put Marker in Pen stand\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut Marker in Pen stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11743035785512365889.mp4"}
+{"uid":"8117756674752551405","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7520897207676280822.mp4"}
+{"uid":"11614700392246543563","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace packet in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13559681211036857411.mp4"}
+{"uid":"10075177790769272600","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace a toffee in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16282384662610778399.mp4"}
+{"uid":"13806456861569603312","text":"\u003ctask:success:discrete:False\u003e\nPick up the clothe Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the clothe\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the clothe\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I'm done with my meeting. Clean up the phone room. Q: immediate next step? \u003cPRED\u003eA: Pick up the clothe\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I'm done with my meeting. Clean up the phone room. last 20 steps: 1- Put the pen in the holder 2- Put the sticky notes in the holder Q: immediate next step? \u003cPRED\u003eA: Pick up the clothe\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I'm done with my meeting. Clean up the phone room. last 20 steps: 1- Put the pen in the holder 2- Put the sticky notes in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the clothe 2- Clean the whiteboard 3- Hang the clothe 4- Switch of the lights 5- Close the door\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the clothe Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2771524099921943535.mp4"}
+{"uid":"7390054419858631324","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the marker into the pen stand\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop the marker into the pen stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5834826655317198097.mp4"}
+{"uid":"2224282588758329136","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nleave the banana in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6861774177582265045.mp4"}
+{"uid":"15492531924898497825","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the pen in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the pen in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the pen in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I'm done with my meeting. Clean up the phone room. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Put the pen in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I'm done with my meeting. Clean up the phone room. Q: immediate next step? \u003cPRED\u003eA: Put the pen in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I'm done with my meeting. Clean up the phone room. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Put the pen in the holder 2- Put the sticky notes in the holder 3- Pick up the clothe 4- Clean the whiteboard 5- Hang the clothe\n\u003c/PRED\u003e","video":"4565278673761703400.mp4"}
+{"uid":"481405503124080461","text":"\u003ctask:success:discrete:False\u003e\npick the pen on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the pen on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the writing utensils back in the container Q: immediate next step? \u003cPRED\u003eA: pick the pen on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the writing utensils back in the container. last 20 steps: 1- Place the tipped Pen stand properly on table 2- pick up yellow marker on the table 3- pick up black marker on the table 4- pick the blue marker on the table 5- pick a white marker on the table Q: next 5 steps? \u003cPRED\u003eA: 1- pick the pen on the table 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the writing utensils back in the container. last 20 steps: 1- Place the tipped Pen stand properly on table 2- pick up yellow marker on the table 3- pick up black marker on the table 4- pick the blue marker on the table 5- pick a white marker on the table Q: immediate next step? \u003cPRED\u003eA: pick the pen on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the pen on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the pen on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11932789708953019119.mp4"}
+{"uid":"9241057288674368930","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nGrasp the green glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"161226364650563870.mp4"}
+{"uid":"5403872812396599435","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: I'm done with my meeting. Clean up the phone room. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Close the door\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nClose the door Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I'm done with my meeting. Clean up the phone room. last 20 steps: 1- Put the pen in the holder 2- Put the sticky notes in the holder 3- Pick up the clothe 4- Clean the whiteboard 5- Hang the clothe 6- Switch of the lights 7- Close the door Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I'm done with my meeting. Clean up the phone room. last 20 steps: 1- Put the pen in the holder 2- Put the sticky notes in the holder 3- Pick up the clothe 4- Clean the whiteboard 5- Hang the clothe 6- Switch of the lights 7- Close the door Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"3919543647501866628.mp4"}
+{"uid":"7940966376226293530","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up jar on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick up jar on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3733578835596290095.mp4"}
+{"uid":"8673564141105385772","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick a white marker on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the writing utensils back in the container. last 20 steps: 1- Place the tipped Pen stand properly on table 2- pick up yellow marker on the table 3- pick up black marker on the table 4- pick the blue marker on the table Q: next 5 steps? \u003cPRED\u003eA: 1- pick a white marker on the table 2- pick the pen on the table 3- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick a white marker on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the writing utensils back in the container. last 20 steps: 1- Place the tipped Pen stand properly on table 2- pick up yellow marker on the table 3- pick up black marker on the table 4- pick the blue marker on the table Q: immediate next step? \u003cPRED\u003eA: pick a white marker on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick a white marker on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick a white marker on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the writing utensils back in the container Q: immediate next step? \u003cPRED\u003eA: pick a white marker on the table\n\u003c/PRED\u003e","video":"2993841303950638501.mp4"}
+{"uid":"4435294634850477995","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"256622145628397310.mp4"}
+{"uid":"1148972400302603299","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the writing utensils back in the container. last 20 steps: 1- Place the tipped Pen stand properly on table 2- pick up yellow marker on the table 3- pick up black marker on the table Q: immediate next step? \u003cPRED\u003eA: drop the marker into the pen stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the writing utensils back in the container Q: immediate next step? \u003cPRED\u003eA: drop the marker into the pen stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the marker into the pen stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the marker into the pen stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the writing utensils back in the container. last 20 steps: 1- Place the tipped Pen stand properly on table 2- pick up yellow marker on the table 3- pick up black marker on the table Q: next 5 steps? \u003cPRED\u003eA: 1- drop the marker into the pen stand 2- pick the pen on the table 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the marker into the pen stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5082812369018367698.mp4"}
+{"uid":"3136383558574815171","text":"\u003ctask:success:discrete:False\u003e\nPut Marker in Pen stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the writing utensils back in the container. last 20 steps: 1- Place the tipped Pen stand properly on table 2- pick up yellow marker on the table 3- pick up black marker on the table 4- pick the blue marker on the table 5- pick a white marker on the table Q: immediate next step? \u003cPRED\u003eA: Put Marker in Pen stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the writing utensils back in the container Q: immediate next step? \u003cPRED\u003eA: Put Marker in Pen stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put Marker in Pen stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the writing utensils back in the container. last 20 steps: 1- Place the tipped Pen stand properly on table 2- pick up yellow marker on the table 3- pick up black marker on the table 4- pick the blue marker on the table 5- pick a white marker on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put Marker in Pen stand 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put Marker in Pen stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut Marker in Pen stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10925987201550990435.mp4"}
+{"uid":"11900526898965038930","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nclose the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16030667301398904537.mp4"}
+{"uid":"15426346386225892666","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut a brown packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6949685910795380003.mp4"}
+{"uid":"2099507679243601740","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the writing utensils back in the container Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick the pen on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick the pen on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the writing utensils back in the container. last 20 steps: 1- Place the tipped Pen stand properly on table 2- pick up yellow marker on the table 3- pick up black marker on the table 4- pick the blue marker on the table 5- pick a white marker on the table 6- pick the pen on the table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the writing utensils back in the container. last 20 steps: 1- Place the tipped Pen stand properly on table 2- pick up yellow marker on the table 3- pick up black marker on the table 4- pick the blue marker on the table 5- pick a white marker on the table 6- pick the pen on the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"15190245584625287303.mp4"}
+{"uid":"2924556069619156553","text":"\u003ctask:success:discrete:True\u003e\npick a white marker on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick a white marker on the table\n\u003c/PRED\u003e","video":"12393067679780578334.mp4"}
+{"uid":"4721241384026214747","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput green candy in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"872961945476079126.mp4"}
+{"uid":"2817539363162376544","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the marker into the pen stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the writing utensils back in the container Q: immediate next step? \u003cPRED\u003eA: drop the marker into the pen stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the writing utensils back in the container. last 20 steps: 1- Place the tipped Pen stand properly on table 2- pick up yellow marker on the table 3- pick up black marker on the table 4- pick the blue marker on the table 5- pick a white marker on the table Q: next 5 steps? \u003cPRED\u003eA: 1- drop the marker into the pen stand 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the marker into the pen stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the writing utensils back in the container. last 20 steps: 1- Place the tipped Pen stand properly on table 2- pick up yellow marker on the table 3- pick up black marker on the table 4- pick the blue marker on the table 5- pick a white marker on the table Q: immediate next step? \u003cPRED\u003eA: drop the marker into the pen stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the marker into the pen stand\n\u003c/PRED\u003e","video":"7107159307408787153.mp4"}
+{"uid":"6109116149751042722","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput pistachio in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16749877020106736575.mp4"}
+{"uid":"14127072260483637814","text":"\u003ctask:success:discrete:True\u003e\nPut Marker in Pen stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put Marker in Pen stand\n\u003c/PRED\u003e","video":"14515414142961894591.mp4"}
+{"uid":"3164743427146235314","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: I'm done with my meeting. Clean up the phone room. Q: immediate next step? \u003cPRED\u003eA: Switch of the lights\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I'm done with my meeting. Clean up the phone room. last 20 steps: 1- Put the pen in the holder 2- Put the sticky notes in the holder 3- Pick up the clothe 4- Clean the whiteboard 5- Hang the clothe Q: next 5 steps? \u003cPRED\u003eA: 1- Switch of the lights 2- Close the door 3- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nSwitch of the lights Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Switch of the lights\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nSwitch of the lights Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I'm done with my meeting. Clean up the phone room. last 20 steps: 1- Put the pen in the holder 2- Put the sticky notes in the holder 3- Pick up the clothe 4- Clean the whiteboard 5- Hang the clothe Q: immediate next step? \u003cPRED\u003eA: Switch of the lights\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Switch of the lights\n\u003c/PRED\u003e","video":"13393615006670752288.mp4"}
+{"uid":"3674912544535458022","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the marker into the pen stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the writing utensils back in the container Q: immediate next step? \u003cPRED\u003eA: drop the marker into the pen stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the marker into the pen stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the marker into the pen stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the writing utensils back in the container. last 20 steps: 1- Place the tipped Pen stand properly on table 2- pick up yellow marker on the table Q: immediate next step? \u003cPRED\u003eA: drop the marker into the pen stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the writing utensils back in the container. last 20 steps: 1- Place the tipped Pen stand properly on table 2- pick up yellow marker on the table Q: next 5 steps? \u003cPRED\u003eA: 1- drop the marker into the pen stand 2- pick the blue marker on the table 3- pick a white marker on the table 4- pick the pen on the table 5- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the marker into the pen stand\n\u003c/PRED\u003e","video":"10059826828242310885.mp4"}
+{"uid":"15411183819536524566","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove close to the highlighter Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3300183329896037325.mp4"}
+{"uid":"4338166321097105733","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the writing utensils back in the container Q: immediate next step? \u003cPRED\u003eA: pick the blue marker on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the blue marker on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the blue marker on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the blue marker on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the writing utensils back in the container. last 20 steps: 1- Place the tipped Pen stand properly on table 2- pick up yellow marker on the table 3- pick up black marker on the table Q: next 5 steps? \u003cPRED\u003eA: 1- pick the blue marker on the table 2- pick a white marker on the table 3- pick the pen on the table 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the blue marker on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the writing utensils back in the container. last 20 steps: 1- Place the tipped Pen stand properly on table 2- pick up yellow marker on the table 3- pick up black marker on the table Q: immediate next step? \u003cPRED\u003eA: pick the blue marker on the table\n\u003c/PRED\u003e","video":"15254319714560944422.mp4"}
+{"uid":"14929805160477985571","text":"\u003ctask:success:discrete:True\u003e\npick the blue marker on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick the blue marker on the table\n\u003c/PRED\u003e","video":"585926116613683691.mp4"}
+{"uid":"9410194629051890022","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the writing utensils back in the container. last 20 steps: 1- Place the tipped Pen stand properly on table 2- pick up yellow marker on the table 3- pick up black marker on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put Marker in Pen stand 2- pick the pen on the table 3- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put Marker in Pen stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the writing utensils back in the container Q: immediate next step? \u003cPRED\u003eA: Put Marker in Pen stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the writing utensils back in the container. last 20 steps: 1- Place the tipped Pen stand properly on table 2- pick up yellow marker on the table 3- pick up black marker on the table Q: immediate next step? \u003cPRED\u003eA: Put Marker in Pen stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put Marker in Pen stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut Marker in Pen stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1979182466391581521.mp4"}
+{"uid":"4344002539571563317","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I'm done with my meeting. Clean up the phone room. last 20 steps: 1- Put the pen in the holder 2- Put the sticky notes in the holder 3- Pick up the clothe 4- Clean the whiteboard 5- Hang the clothe 6- Switch of the lights Q: immediate next step? \u003cPRED\u003eA: Close the door\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I'm done with my meeting. Clean up the phone room. last 20 steps: 1- Put the pen in the holder 2- Put the sticky notes in the holder 3- Pick up the clothe 4- Clean the whiteboard 5- Hang the clothe 6- Switch of the lights Q: next 5 steps? \u003cPRED\u003eA: 1- Close the door 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I'm done with my meeting. Clean up the phone room. Q: immediate next step? \u003cPRED\u003eA: Close the door\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Close the door\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nClose the door Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nClose the door Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Close the door\n\u003c/PRED\u003e","video":"8113265235509467185.mp4"}
+{"uid":"16645199258878964526","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"695295043149013932.mp4"}
+{"uid":"12001616288675904173","text":"\u003ctask:success:discrete:True\u003e\ndrop the marker into the pen stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the writing utensils back in the container. last 20 steps: 1- Place the tipped Pen stand properly on table 2- pick up yellow marker on the table 3- pick up black marker on the table 4- pick the blue marker on the table 5- pick a white marker on the table 6- drop the marker into the pen stand Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the writing utensils back in the container Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the marker into the pen stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the writing utensils back in the container. last 20 steps: 1- Place the tipped Pen stand properly on table 2- pick up yellow marker on the table 3- pick up black marker on the table 4- pick the blue marker on the table 5- pick a white marker on the table 6- drop the marker into the pen stand Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"16656322843992961507.mp4"}
+{"uid":"2405664801087628795","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the writing utensils back in the container Q: immediate next step? \u003cPRED\u003eA: Put Marker in Pen stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put Marker in Pen stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut Marker in Pen stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the writing utensils back in the container. last 20 steps: 1- Place the tipped Pen stand properly on table 2- pick up yellow marker on the table 3- pick up black marker on the table 4- pick the blue marker on the table Q: immediate next step? \u003cPRED\u003eA: Put Marker in Pen stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the writing utensils back in the container. last 20 steps: 1- Place the tipped Pen stand properly on table 2- pick up yellow marker on the table 3- pick up black marker on the table 4- pick the blue marker on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put Marker in Pen stand 2- pick the pen on the table 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put Marker in Pen stand\n\u003c/PRED\u003e","video":"11590716940740410621.mp4"}
+{"uid":"14562433861691685394","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the packet into the container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3288874814067944463.mp4"}
+{"uid":"11759199449207558649","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the writing utensils back in the container. last 20 steps: 1- Place the tipped Pen stand properly on table 2- pick up yellow marker on the table 3- pick up black marker on the table Q: immediate next step? \u003cPRED\u003eA: Bend the arm downward\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the writing utensils back in the container. last 20 steps: 1- Place the tipped Pen stand properly on table 2- pick up yellow marker on the table 3- pick up black marker on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Bend the arm downward 2- pick a white marker on the table 3- pick the pen on the table 4- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Bend the arm downward\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Bend the arm downward\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the writing utensils back in the container Q: immediate next step? \u003cPRED\u003eA: Bend the arm downward\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nBend the arm downward Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nBend the arm downward Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15032441547712930314.mp4"}
+{"uid":"7894622426455136744","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the marker into the pen stand\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop the marker into the pen stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16057084761540121430.mp4"}
+{"uid":"3012347804122574913","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the chess coin on the board Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1948972540123283221.mp4"}
+{"uid":"8527185219571917543","text":"\u003ctask:success:discrete:True\u003e\nPut Marker in Pen stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put Marker in Pen stand\n\u003c/PRED\u003e","video":"14721758792463380823.mp4"}
+{"uid":"11913201898479532459","text":"\u003ctask:success:discrete:False\u003e\nPlace the tipped Pen stand properly on table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the tipped Pen stand properly on table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the writing utensils back in the container. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Place the tipped Pen stand properly on table 2- pick up black marker on the table 3- pick the blue marker on the table 4- pick a white marker on the table 5- pick the pen on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the writing utensils back in the container Q: immediate next step? \u003cPRED\u003eA: Place the tipped Pen stand properly on table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the tipped Pen stand properly on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the tipped Pen stand properly on table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the writing utensils back in the container. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Place the tipped Pen stand properly on table\n\u003c/PRED\u003e","video":"2280946123192840817.mp4"}
+{"uid":"1102341991782101512","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the writing utensils back in the container. last 20 steps: 1- Place the tipped Pen stand properly on table Q: immediate next step? \u003cPRED\u003eA: Put Marker in Pen stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put Marker in Pen stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the writing utensils back in the container Q: immediate next step? \u003cPRED\u003eA: Put Marker in Pen stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut Marker in Pen stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put Marker in Pen stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the writing utensils back in the container. last 20 steps: 1- Place the tipped Pen stand properly on table Q: next 5 steps? \u003cPRED\u003eA: 1- Put Marker in Pen stand 2- pick the blue marker on the table 3- pick a white marker on the table 4- pick the pen on the table 5- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut Marker in Pen stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16021115787619001584.mp4"}
+{"uid":"14875447163789743140","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put Marker in Pen stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the writing utensils back in the container Q: immediate next step? \u003cPRED\u003eA: Put Marker in Pen stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put Marker in Pen stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut Marker in Pen stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the writing utensils back in the container. last 20 steps: 1- Place the tipped Pen stand properly on table 2- pick up yellow marker on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put Marker in Pen stand 2- pick a white marker on the table 3- pick the pen on the table 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the writing utensils back in the container. last 20 steps: 1- Place the tipped Pen stand properly on table 2- pick up yellow marker on the table Q: immediate next step? \u003cPRED\u003eA: Put Marker in Pen stand\n\u003c/PRED\u003e","video":"8959491652462489345.mp4"}
+{"uid":"3420439742506169014","text":"\u003ctask:success:discrete:True\u003e\npick up black marker on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up black marker on the table\n\u003c/PRED\u003e","video":"13699485713576926195.mp4"}
+{"uid":"380380304745624586","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace pen on the pens Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10633135360123285768.mp4"}
+{"uid":"16074785864310444259","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the white snack bag on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8015949630293794388.mp4"}
+{"uid":"487559631687124698","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove towards the blue chocolate Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2476495835824124003.mp4"}
+{"uid":"7900720946009919200","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the binder clip in the black tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4518364257011797053.mp4"}
+{"uid":"12549900964504328834","text":"\u003ctask:success:discrete:False\u003e\npick up black marker on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the writing utensils back in the container Q: immediate next step? \u003cPRED\u003eA: pick up black marker on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up black marker on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the writing utensils back in the container. last 20 steps: 1- Place the tipped Pen stand properly on table Q: immediate next step? \u003cPRED\u003eA: pick up black marker on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up black marker on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the writing utensils back in the container. last 20 steps: 1- Place the tipped Pen stand properly on table Q: next 5 steps? \u003cPRED\u003eA: 1- pick up black marker on the table 2- pick the blue marker on the table 3- pick a white marker on the table 4- pick the pen on the table 5- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up black marker on the table\n\u003c/PRED\u003e","video":"10529645349304074006.mp4"}
+{"uid":"1136177389963590281","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Switch of the lights\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nSwitch of the lights Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5682640451306346969.mp4"}
+{"uid":"12535759309616472703","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the apple in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2569203423698430031.mp4"}
+{"uid":"6573197462965842227","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the tipped Pen stand properly on table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the tipped Pen stand properly on table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4454439484821614034.mp4"}
+{"uid":"12399789361250848332","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the writing utensils back in the container Q: immediate next step? \u003cPRED\u003eA: pick up yellow marker on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up yellow marker on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up yellow marker on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the writing utensils back in the container. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: pick up yellow marker on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up yellow marker on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up yellow marker on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the writing utensils back in the container. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- pick up yellow marker on the table 2- pick the blue marker on the table 3- pick a white marker on the table 4- pick the pen on the table 5- done\n\u003c/PRED\u003e","video":"14868436378141921001.mp4"}
+{"uid":"15295507530886681471","text":"\u003ctask:success:discrete:True\u003e\npick up yellow marker on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up yellow marker on the table\n\u003c/PRED\u003e","video":"8210317452241513290.mp4"}
+{"uid":"14692115245443535368","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up package from the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1735233605420185043.mp4"}
+{"uid":"17861632587700114670","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the writing utensils back in the container. last 20 steps: 1- Place the tipped Pen stand properly on table 2- pick up yellow marker on the table 3- pick up black marker on the table 4- pick the blue marker on the table 5- pick a white marker on the table 6- Put Marker in Pen stand Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the writing utensils back in the container. last 20 steps: 1- Place the tipped Pen stand properly on table 2- pick up yellow marker on the table 3- pick up black marker on the table 4- pick the blue marker on the table 5- pick a white marker on the table 6- Put Marker in Pen stand Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the writing utensils back in the container Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put Marker in Pen stand\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut Marker in Pen stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5548430915208361556.mp4"}
+{"uid":"16880999762371717878","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the marker into pen stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the writing utensils back in the container. last 20 steps: 1- Place the tipped Pen stand properly on table Q: immediate next step? \u003cPRED\u003eA: drop the marker into pen stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the marker into pen stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the writing utensils back in the container Q: immediate next step? \u003cPRED\u003eA: drop the marker into pen stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the writing utensils back in the container. last 20 steps: 1- Place the tipped Pen stand properly on table Q: next 5 steps? \u003cPRED\u003eA: 1- drop the marker into pen stand 2- pick up black marker on the table 3- pick the blue marker on the table 4- pick a white marker on the table 5- pick the pen on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the marker into pen stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the marker into pen stand\n\u003c/PRED\u003e","video":"9163679560620322616.mp4"}
+{"uid":"11656394406388729697","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nHang the clothe Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nHang the clothe Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Hang the clothe\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I'm done with my meeting. Clean up the phone room. last 20 steps: 1- Put the pen in the holder 2- Put the sticky notes in the holder 3- Pick up the clothe 4- Clean the whiteboard Q: immediate next step? \u003cPRED\u003eA: Hang the clothe\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I'm done with my meeting. Clean up the phone room. Q: immediate next step? \u003cPRED\u003eA: Hang the clothe\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Hang the clothe\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I'm done with my meeting. Clean up the phone room. last 20 steps: 1- Put the pen in the holder 2- Put the sticky notes in the holder 3- Pick up the clothe 4- Clean the whiteboard Q: next 5 steps? \u003cPRED\u003eA: 1- Hang the clothe 2- Switch of the lights 3- Close the door 4- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nClean the whiteboard Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Clean the whiteboard\n\u003c/PRED\u003e","video":"7520778994359974573.mp4"}
+{"uid":"12874641278413202964","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the writing utensils back in the container. last 20 steps: 1- Place the tipped Pen stand properly on table 2- pick up yellow marker on the table 3- pick up black marker on the table 4- pick the blue marker on the table 5- pick a white marker on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put Marker in Pen stand 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the writing utensils back in the container Q: immediate next step? \u003cPRED\u003eA: Put Marker in Pen stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put Marker in Pen stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the writing utensils back in the container. last 20 steps: 1- Place the tipped Pen stand properly on table 2- pick up yellow marker on the table 3- pick up black marker on the table 4- pick the blue marker on the table 5- pick a white marker on the table Q: immediate next step? \u003cPRED\u003eA: Put Marker in Pen stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut Marker in Pen stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put Marker in Pen stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut Marker in Pen stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14243151070638416257.mp4"}
+{"uid":"1314594389198801891","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ngrab the spoon and pulling it upward Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12873426200258645717.mp4"}
+{"uid":"10744689852351524128","text":"\u003ctask:success:discrete:True\u003e\nHang the clothe Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Hang the clothe\n\u003c/PRED\u003e","video":"9136310723785266527.mp4"}
+{"uid":"12884589631925783391","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the pen stand\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the pen stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15613749353735135618.mp4"}
+{"uid":"17258859869414169365","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace blue packet in the small bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7902842838104372365.mp4"}
+{"uid":"2817795882075926463","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up jar on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the writing utensils back in the container Q: immediate next step? \u003cPRED\u003eA: pick up jar on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up jar on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the writing utensils back in the container. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- pick up jar on the table 2- pick up yellow marker on the table 3- pick up black marker on the table 4- pick the blue marker on the table 5- pick a white marker on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up jar on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the writing utensils back in the container. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: pick up jar on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up jar on the table\n\u003c/PRED\u003e","video":"18304954117230720878.mp4"}
+{"uid":"11243123782960819348","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the yellow duck in the large basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3964316364022862077.mp4"}
+{"uid":"4436726938444866319","text":"\u003ctask:success:discrete:False\u003e\nPut the sticky notes in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I'm done with my meeting. Clean up the phone room. last 20 steps: 1- Put the pen in the holder Q: immediate next step? \u003cPRED\u003eA: Put the sticky notes in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I'm done with my meeting. Clean up the phone room. Q: immediate next step? \u003cPRED\u003eA: Put the sticky notes in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the sticky notes in the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the sticky notes in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I'm done with my meeting. Clean up the phone room. last 20 steps: 1- Put the pen in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- Put the sticky notes in the holder 2- Pick up the clothe 3- Clean the whiteboard 4- Hang the clothe 5- Switch of the lights\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the sticky notes in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15758068564389188561.mp4"}
+{"uid":"11556555699105103306","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the sticky notes in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the sticky notes in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5097966346560903527.mp4"}
+{"uid":"18164511076253461214","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the packet in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2543000281940476146.mp4"}
+{"uid":"13685176898861639654","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the writing utensils back in the container. last 20 steps: 1- Place the tipped Pen stand properly on table 2- pick up yellow marker on the table 3- pick up black marker on the table 4- pick the blue marker on the table Q: next 5 steps? \u003cPRED\u003eA: 1- drop the marker into the pen stand 2- pick the pen on the table 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the writing utensils back in the container Q: immediate next step? \u003cPRED\u003eA: drop the marker into the pen stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the marker into the pen stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the marker into the pen stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the marker into the pen stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the writing utensils back in the container. last 20 steps: 1- Place the tipped Pen stand properly on table 2- pick up yellow marker on the table 3- pick up black marker on the table 4- pick the blue marker on the table Q: immediate next step? \u003cPRED\u003eA: drop the marker into the pen stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the marker into the pen stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6041810194307070975.mp4"}
+{"uid":"3126049331056570946","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the writing utensils back in the container. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place the pen stand 2- pick up black marker on the table 3- pick the blue marker on the table 4- pick a white marker on the table 5- pick the pen on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the writing utensils back in the container Q: immediate next step? \u003cPRED\u003eA: place the pen stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the pen stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the writing utensils back in the container. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place the pen stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the pen stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the pen stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the pen stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8895068057611744230.mp4"}
+{"uid":"18027624879662879821","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the scoop of caramel popcorn in the coffee cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11744901405260389070.mp4"}
+{"uid":"13795995853318757025","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput can in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3936313917567813091.mp4"}
+{"uid":"13203368293207229368","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: i do not want the pistachios anymore. can you put them back in the jar?. last 20 steps: 1- open the lid 2- place the glass on the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: i do not want the pistachios anymore. can you put them back in the jar? Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the glass on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: i do not want the pistachios anymore. can you put them back in the jar?. last 20 steps: 1- open the lid 2- place the glass on the table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the glass on the table\n\u003c/PRED\u003e","video":"11738463253722214222.mp4"}
+{"uid":"16301922209237359720","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the orange in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12486318988000818580.mp4"}
+{"uid":"2990066246148879679","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput a yellow candy in a paper cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"304096527315604609.mp4"}
+{"uid":"3527107633222280018","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: i do not want the pistachios anymore. can you put them back in the jar?. last 20 steps: 1- open the lid 2- pour the pistachio into the Jar 3- close the jar Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nclose the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: i do not want the pistachios anymore. can you put them back in the jar? Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: close the jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: i do not want the pistachios anymore. can you put them back in the jar?. last 20 steps: 1- open the lid 2- pour the pistachio into the Jar 3- close the jar Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"9831227453206186454.mp4"}
+{"uid":"2652883151977900442","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up the tissue box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1724414950191677199.mp4"}
+{"uid":"11080235236504505117","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: i do not want the pistachios anymore. can you put them back in the jar?. last 20 steps: 1- open the lid Q: next 5 steps? \u003cPRED\u003eA: 1- pour the pistachio into the Jar 2- close the lid 3- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nopen the lid Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pour the pistachio into the Jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npour the pistachio into the Jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: i do not want the pistachios anymore. can you put them back in the jar?. last 20 steps: 1- open the lid Q: immediate next step? \u003cPRED\u003eA: pour the pistachio into the Jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npour the pistachio into the Jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: open the lid\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: i do not want the pistachios anymore. can you put them back in the jar? Q: immediate next step? \u003cPRED\u003eA: pour the pistachio into the Jar\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pour the pistachio into the Jar\n\u003c/PRED\u003e","video":"15379130900414233523.mp4"}
+{"uid":"16195671752452700415","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the apple in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2612039490555605167.mp4"}
+{"uid":"1876687425712095013","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take out all the pens and marker from pen holder. last 20 steps: 1- place the pen on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the pen on the table 2- place the pen on the table 3- place the marker on the table 4- place the marker on the table 5- place the pen on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Take out all the pens and marker from pen holder Q: immediate next step? \u003cPRED\u003eA: place the pen on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take out all the pens and marker from pen holder. last 20 steps: 1- place the pen on the table Q: immediate next step? \u003cPRED\u003eA: place the pen on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the pen on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the pen on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the pen on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16035342957095582152.mp4"}
+{"uid":"5187146356470407474","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the marker on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take out all the pens and marker from pen holder. last 20 steps: 1- place the pen on the table 2- place the pen on the table 3- place the pen on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the marker on the table 2- place the marker on the table 3- place the pen on the table 4- place the pen on the table 5- place the pen on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the marker on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Take out all the pens and marker from pen holder Q: immediate next step? \u003cPRED\u003eA: place the marker on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take out all the pens and marker from pen holder. last 20 steps: 1- place the pen on the table 2- place the pen on the table 3- place the pen on the table Q: immediate next step? \u003cPRED\u003eA: place the marker on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the marker on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the marker on the table\n\u003c/PRED\u003e","video":"3652052624247402182.mp4"}
+{"uid":"13194017829103850586","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput a pistachio in the paper cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4633395423038505258.mp4"}
+{"uid":"8721043114431745646","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the pen on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take out all the pens and marker from pen holder. last 20 steps: 1- place the pen on the table 2- place the pen on the table 3- place the pen on the table 4- place the marker on the table 5- place the marker on the table 6- place the pen on the table 7- place the pen on the table 8- place the pen on the table 9- place the pen on the table 10- place the pen on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the pen on the table 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the pen on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take out all the pens and marker from pen holder. last 20 steps: 1- place the pen on the table 2- place the pen on the table 3- place the pen on the table 4- place the marker on the table 5- place the marker on the table 6- place the pen on the table 7- place the pen on the table 8- place the pen on the table 9- place the pen on the table 10- place the pen on the table Q: immediate next step? \u003cPRED\u003eA: place the pen on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Take out all the pens and marker from pen holder Q: immediate next step? \u003cPRED\u003eA: place the pen on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the pen on the table\n\u003c/PRED\u003e","video":"7296107338411651124.mp4"}
+{"uid":"7515779607276394934","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace sticky notes inside the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3738560867494882253.mp4"}
+{"uid":"2394892500230346055","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the packet in the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12747910113621945235.mp4"}
+{"uid":"6371653742040513226","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: close the lid\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nclose the lid Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: i do not want the pistachios anymore. can you put them back in the jar?. last 20 steps: 1- open the lid 2- pour the pistachio into the Jar 3- close the lid Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: i do not want the pistachios anymore. can you put them back in the jar? Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: i do not want the pistachios anymore. can you put them back in the jar?. last 20 steps: 1- open the lid 2- pour the pistachio into the Jar 3- close the lid Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"10217839626336922876.mp4"}
+{"uid":"9425047918112728766","text":"\u003ctask:success:discrete:True\u003e\nput the coffee cup on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the coffee cup on the table\n\u003c/PRED\u003e","video":"10362615623363576750.mp4"}
+{"uid":"1545142574014280834","text":"\u003ctask:success:discrete:True\u003e\npour the pistachio into the Jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: i do not want the pistachios anymore. can you put them back in the jar?. last 20 steps: 1- open the lid 2- pour the pistachio into the Jar Q: immediate next step? \u003cPRED\u003eA: Place the cup on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the cup on the table\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pour the pistachio into the Jar\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the cup on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: i do not want the pistachios anymore. can you put them back in the jar?. last 20 steps: 1- open the lid 2- pour the pistachio into the Jar Q: next 5 steps? \u003cPRED\u003eA: 1- Place the cup on the table 2- close the lid 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the cup on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the cup on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: i do not want the pistachios anymore. can you put them back in the jar? Q: immediate next step? \u003cPRED\u003eA: Place the cup on the table\n\u003c/PRED\u003e","video":"4346952588163002213.mp4"}
+{"uid":"15552226474360375731","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: i do not want the pistachios anymore. can you put them back in the jar?. last 20 steps: 1- open the lid 2- pour the pistachio into the Jar Q: immediate next step? \u003cPRED\u003eA: close the jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: i do not want the pistachios anymore. can you put them back in the jar? Q: immediate next step? \u003cPRED\u003eA: close the jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: close the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nclose the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: i do not want the pistachios anymore. can you put them back in the jar?. last 20 steps: 1- open the lid 2- pour the pistachio into the Jar Q: next 5 steps? \u003cPRED\u003eA: 1- close the jar 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: close the jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nclose the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"619644712384877195.mp4"}
+{"uid":"13016078986542964488","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop a plastic spoon on a table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1347755055256712072.mp4"}
+{"uid":"14688738236950541360","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: i do not want the pistachios anymore. can you put them back in the jar? Q: immediate next step? \u003cPRED\u003eA: pick up the coffee cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the coffee cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the coffee cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the coffee cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the coffee cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: i do not want the pistachios anymore. can you put them back in the jar?. last 20 steps: 1- open the lid Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the coffee cup 2- place the glass on the table 3- close the lid 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: i do not want the pistachios anymore. can you put them back in the jar?. last 20 steps: 1- open the lid Q: immediate next step? \u003cPRED\u003eA: pick up the coffee cup\n\u003c/PRED\u003e","video":"12819188858623227493.mp4"}
+{"uid":"12586949525628862987","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the pen on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take out all the pens and marker from pen holder. last 20 steps: 1- place the pen on the table 2- place the pen on the table 3- place the pen on the table 4- place the marker on the table 5- place the marker on the table 6- place the pen on the table 7- place the pen on the table Q: immediate next step? \u003cPRED\u003eA: place the pen on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Take out all the pens and marker from pen holder Q: immediate next step? \u003cPRED\u003eA: place the pen on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the pen on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the pen on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take out all the pens and marker from pen holder. last 20 steps: 1- place the pen on the table 2- place the pen on the table 3- place the pen on the table 4- place the marker on the table 5- place the marker on the table 6- place the pen on the table 7- place the pen on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the pen on the table 2- place the pen on the table 3- place the pen on the table 4- place the pen on the table 5- done\n\u003c/PRED\u003e","video":"15070305588314994416.mp4"}
+{"uid":"10159794332101005455","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: i do not want the pistachios anymore. can you put them back in the jar?. last 20 steps: 1- open the lid 2- pour the pistachio into the Jar 3- place the glass on the table Q: next 5 steps? \u003cPRED\u003eA: 1- close the jar lid 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nclose the jar lid Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: close the jar lid\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: i do not want the pistachios anymore. can you put them back in the jar? Q: immediate next step? \u003cPRED\u003eA: close the jar lid\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: close the jar lid\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: i do not want the pistachios anymore. can you put them back in the jar?. last 20 steps: 1- open the lid 2- pour the pistachio into the Jar 3- place the glass on the table Q: immediate next step? \u003cPRED\u003eA: close the jar lid\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nclose the jar lid Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6683610271935653580.mp4"}
+{"uid":"4461961198185100631","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput orange in the right bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2032932458594719299.mp4"}
+{"uid":"3375973851111130716","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nempty  the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nempty  the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: i do not want the pistachios anymore. can you put them back in the jar?. last 20 steps: 1- open the lid Q: immediate next step? \u003cPRED\u003eA: empty  the cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: empty  the cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: i do not want the pistachios anymore. can you put them back in the jar?. last 20 steps: 1- open the lid Q: next 5 steps? \u003cPRED\u003eA: 1- empty  the cup 2- place the glass on the table 3- close the lid 4- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: i do not want the pistachios anymore. can you put them back in the jar? Q: immediate next step? \u003cPRED\u003eA: empty  the cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: empty  the cup\n\u003c/PRED\u003e","video":"10278901165802767946.mp4"}
+{"uid":"10459722473664595509","text":"\u003ctask:success:discrete:True\u003e\nopen the lid of the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: open the lid of the jar\n\u003c/PRED\u003e","video":"8272422165876677474.mp4"}
+{"uid":"12310115556966003787","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ngo straight Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4700917603078048431.mp4"}
+{"uid":"16480167204538764035","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the cup on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the cup on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5752681306600106722.mp4"}
+{"uid":"4614386735849897554","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: i do not want the pistachios anymore. can you put them back in the jar? Q: immediate next step? \u003cPRED\u003eA: Open the lid\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: i do not want the pistachios anymore. can you put them back in the jar?. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Open the lid\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nOpen the lid Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: i do not want the pistachios anymore. can you put them back in the jar?. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Open the lid 2- place the glass on the table 3- close the lid 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Open the lid\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Open the lid\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nOpen the lid Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8213004756697467466.mp4"}
+{"uid":"7450022808305644864","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the pen on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Take out all the pens and marker from pen holder Q: immediate next step? \u003cPRED\u003eA: place the pen on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the pen on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take out all the pens and marker from pen holder. last 20 steps: 1- place the pen on the table 2- place the pen on the table 3- place the pen on the table 4- place the marker on the table 5- place the marker on the table 6- place the pen on the table 7- place the pen on the table 8- place the pen on the table 9- place the pen on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the pen on the table 2- place the pen on the table 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take out all the pens and marker from pen holder. last 20 steps: 1- place the pen on the table 2- place the pen on the table 3- place the pen on the table 4- place the marker on the table 5- place the marker on the table 6- place the pen on the table 7- place the pen on the table 8- place the pen on the table 9- place the pen on the table Q: immediate next step? \u003cPRED\u003eA: place the pen on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the pen on the table\n\u003c/PRED\u003e","video":"6110881961325481944.mp4"}
+{"uid":"13033916614668416958","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the apple into the glass jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"351645913440512693.mp4"}
+{"uid":"9468312070021409343","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nTake some pistas in the scoop Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2397712704483350618.mp4"}
+{"uid":"740759705986287762","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput packet in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13762006208551931058.mp4"}
+{"uid":"6184288394817986231","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the pen on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take out all the pens and marker from pen holder. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place the pen on the table 2- place the pen on the table 3- place the pen on the table 4- place the marker on the table 5- place the marker on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Take out all the pens and marker from pen holder Q: immediate next step? \u003cPRED\u003eA: place the pen on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take out all the pens and marker from pen holder. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place the pen on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the pen on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the pen on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the pen on the table\n\u003c/PRED\u003e","video":"4837612016422026217.mp4"}
+{"uid":"6811038664075901065","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick the white bowl from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11873923588306538347.mp4"}
+{"uid":"4700511362153917119","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the glass on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: i do not want the pistachios anymore. can you put them back in the jar? Q: immediate next step? \u003cPRED\u003eA: place the glass on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: i do not want the pistachios anymore. can you put them back in the jar?. last 20 steps: 1- open the lid Q: immediate next step? \u003cPRED\u003eA: place the glass on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the glass on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the glass on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the glass on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: i do not want the pistachios anymore. can you put them back in the jar?. last 20 steps: 1- open the lid Q: next 5 steps? \u003cPRED\u003eA: 1- place the glass on the table 2- done\n\u003c/PRED\u003e","video":"17836688137836671848.mp4"}
+{"uid":"14998376612954732485","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take out all the pens and marker from pen holder. last 20 steps: 1- place the pen on the table 2- place the pen on the table 3- place the pen on the table 4- place the marker on the table 5- place the marker on the table 6- place the pen on the table 7- place the pen on the table 8- place the pen on the table Q: immediate next step? \u003cPRED\u003eA: place the pen on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the pen on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the pen on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the pen on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Take out all the pens and marker from pen holder Q: immediate next step? \u003cPRED\u003eA: place the pen on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take out all the pens and marker from pen holder. last 20 steps: 1- place the pen on the table 2- place the pen on the table 3- place the pen on the table 4- place the marker on the table 5- place the marker on the table 6- place the pen on the table 7- place the pen on the table 8- place the pen on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the pen on the table 2- place the pen on the table 3- place the pen on the table 4- done\n\u003c/PRED\u003e","video":"8269116171470421863.mp4"}
+{"uid":"6079046296064794448","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop pistachios in cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5416648600826190160.mp4"}
+{"uid":"4916419766336321851","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nclose the lid Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: i do not want the pistachios anymore. can you put them back in the jar?. last 20 steps: 1- open the lid 2- pour the pistachio into the Jar Q: immediate next step? \u003cPRED\u003eA: close the lid\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: close the lid\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nclose the lid Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: close the lid\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: i do not want the pistachios anymore. can you put them back in the jar? Q: immediate next step? \u003cPRED\u003eA: close the lid\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: i do not want the pistachios anymore. can you put them back in the jar?. last 20 steps: 1- open the lid 2- pour the pistachio into the Jar Q: next 5 steps? \u003cPRED\u003eA: 1- close the lid 2- done\n\u003c/PRED\u003e","video":"3981359877510431074.mp4"}
+{"uid":"6401574532661594844","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the pen on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Take out all the pens and marker from pen holder Q: immediate next step? \u003cPRED\u003eA: place the pen on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the pen on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take out all the pens and marker from pen holder. last 20 steps: 1- place the pen on the table 2- place the pen on the table 3- place the pen on the table 4- place the marker on the table 5- place the marker on the table 6- place the pen on the table Q: immediate next step? \u003cPRED\u003eA: place the pen on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the pen on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take out all the pens and marker from pen holder. last 20 steps: 1- place the pen on the table 2- place the pen on the table 3- place the pen on the table 4- place the marker on the table 5- place the marker on the table 6- place the pen on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the pen on the table 2- place the pen on the table 3- place the pen on the table 4- place the pen on the table 5- place the pen on the table\n\u003c/PRED\u003e","video":"10558165347290125191.mp4"}
+{"uid":"14366226621084272135","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the marker on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the marker on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take out all the pens and marker from pen holder. last 20 steps: 1- place the pen on the table 2- place the pen on the table 3- place the pen on the table 4- place the marker on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the marker on the table 2- place the pen on the table 3- place the pen on the table 4- place the pen on the table 5- place the pen on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take out all the pens and marker from pen holder. last 20 steps: 1- place the pen on the table 2- place the pen on the table 3- place the pen on the table 4- place the marker on the table Q: immediate next step? \u003cPRED\u003eA: place the marker on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the marker on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Take out all the pens and marker from pen holder Q: immediate next step? \u003cPRED\u003eA: place the marker on the table\n\u003c/PRED\u003e","video":"12657495000573897824.mp4"}
+{"uid":"14797107823950043486","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: close the jar lid\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nclose the jar lid Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: i do not want the pistachios anymore. can you put them back in the jar? Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: i do not want the pistachios anymore. can you put them back in the jar?. last 20 steps: 1- open the lid 2- pour the pistachio into the Jar 3- place the glass on the table 4- close the jar lid Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: i do not want the pistachios anymore. can you put them back in the jar?. last 20 steps: 1- open the lid 2- pour the pistachio into the Jar 3- place the glass on the table 4- close the jar lid Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"6191195411193089883.mp4"}
+{"uid":"125945472709302413","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the spoon in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1523146599726255638.mp4"}
+{"uid":"8221114640865601008","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the coffee cup on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: i do not want the pistachios anymore. can you put them back in the jar?. last 20 steps: 1- open the lid Q: next 5 steps? \u003cPRED\u003eA: 1- put the coffee cup on the table 2- close the lid 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: i do not want the pistachios anymore. can you put them back in the jar?. last 20 steps: 1- open the lid Q: immediate next step? \u003cPRED\u003eA: put the coffee cup on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the coffee cup on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the coffee cup on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the coffee cup on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: i do not want the pistachios anymore. can you put them back in the jar? Q: immediate next step? \u003cPRED\u003eA: put the coffee cup on the table\n\u003c/PRED\u003e","video":"1289082709753542391.mp4"}
+{"uid":"6133264856729401097","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the green candy in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15355701871309372347.mp4"}
+{"uid":"13737808022621800241","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nunstack the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2780437747155123942.mp4"}
+{"uid":"17970695132772069846","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace packet in the cotton box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2972889051164003068.mp4"}
+{"uid":"6175698799093623426","text":"\u003ctask:success:discrete:True\u003e\nempty  the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: empty  the cup\n\u003c/PRED\u003e","video":"15407323477041022446.mp4"}
+{"uid":"4325711092082666400","text":"\u003ctask:success:discrete:True\u003e\nput pistachio in the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put pistachio in the jar\n\u003c/PRED\u003e","video":"17635695581405338570.mp4"}
+{"uid":"17964216189817811549","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput candy on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17483828343664868864.mp4"}
+{"uid":"15117595192726157851","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop the black box on the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2210510461116664796.mp4"}
+{"uid":"6083185531700114251","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take out all the pens and marker from pen holder. last 20 steps: 1- place the pen on the table 2- place the pen on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the pen on the table 2- place the marker on the table 3- place the marker on the table 4- place the pen on the table 5- place the pen on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Take out all the pens and marker from pen holder Q: immediate next step? \u003cPRED\u003eA: place the pen on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take out all the pens and marker from pen holder. last 20 steps: 1- place the pen on the table 2- place the pen on the table Q: immediate next step? \u003cPRED\u003eA: place the pen on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the pen on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the pen on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the pen on the table\n\u003c/PRED\u003e","video":"14862295976246857276.mp4"}
+{"uid":"8206208193500847158","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: i do not want the pistachios anymore. can you put them back in the jar?. last 20 steps: 1- open the lid Q: immediate next step? \u003cPRED\u003eA: put pistachio in the jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put pistachio in the jar\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put pistachio in the jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: i do not want the pistachios anymore. can you put them back in the jar?. last 20 steps: 1- open the lid Q: next 5 steps? \u003cPRED\u003eA: 1- put pistachio in the jar 2- close the lid 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput pistachio in the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput pistachio in the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: i do not want the pistachios anymore. can you put them back in the jar? Q: immediate next step? \u003cPRED\u003eA: put pistachio in the jar\n\u003c/PRED\u003e","video":"4527888879412052732.mp4"}
+{"uid":"1724698571797648285","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput banana on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4460455533505690718.mp4"}
+{"uid":"15317121131751550275","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the marker in a container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12814394633685689620.mp4"}
+{"uid":"2072998520082767299","text":"\u003ctask:success:discrete:True\u003e\nplace the pen on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the pen on the table\n\u003c/PRED\u003e","video":"11099270769745857414.mp4"}
+{"uid":"8957522603147765102","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open the lid of the jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open the lid of the jar\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: i do not want the pistachios anymore. can you put them back in the jar?. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: open the lid of the jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: i do not want the pistachios anymore. can you put them back in the jar?. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- open the lid of the jar 2- place the glass on the table 3- close the lid 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nopen the lid of the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: i do not want the pistachios anymore. can you put them back in the jar? Q: immediate next step? \u003cPRED\u003eA: open the lid of the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nopen the lid of the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6928916687695612581.mp4"}
+{"uid":"10559624315401649526","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take out all the pens and marker from pen holder. last 20 steps: 1- place the pen on the table 2- place the pen on the table 3- place the pen on the table 4- place the marker on the table 5- place the marker on the table Q: immediate next step? \u003cPRED\u003eA: place the pen on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the pen on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Take out all the pens and marker from pen holder Q: immediate next step? \u003cPRED\u003eA: place the pen on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the pen on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the pen on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take out all the pens and marker from pen holder. last 20 steps: 1- place the pen on the table 2- place the pen on the table 3- place the pen on the table 4- place the marker on the table 5- place the marker on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the pen on the table 2- place the pen on the table 3- place the pen on the table 4- place the pen on the table 5- place the pen on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the pen on the table\n\u003c/PRED\u003e","video":"8615955906750639211.mp4"}
+{"uid":"12728934474125660533","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put box on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput box on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"347240563976307253.mp4"}
+{"uid":"12315107681664918564","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pistachio in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15586694203256419597.mp4"}
+{"uid":"6123073579188466636","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the box in the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the box in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"662187888528381202.mp4"}
+{"uid":"4264773825237560793","text":"\u003ctask:success:discrete:False\u003e\npick up box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take out 4 numi tea boxes from the top drawer onto the table, close drawer, then place the boxes into the bottom row trays. last 20 steps: 1- Open the drawer 2- place the numi box on the table 3- Put the box of golden chai on the table 4- put box on the table 5- Put the box of white rose on the table 6- close the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- pick up box 2- pick up box 3- put box in the stand 4- Put the box of gunpowder green 5- Put the box of breakfast blend in the stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take out 4 numi tea boxes from the top drawer onto the table, close drawer, then place the boxes into the bottom row trays. last 20 steps: 1- Open the drawer 2- place the numi box on the table 3- Put the box of golden chai on the table 4- put box on the table 5- Put the box of white rose on the table 6- close the drawer Q: immediate next step? \u003cPRED\u003eA: pick up box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take out 4 numi tea boxes from the top drawer onto the table, close drawer, then place the boxes into the bottom row trays. Q: immediate next step? \u003cPRED\u003eA: pick up box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up box\n\u003c/PRED\u003e","video":"8812249818854304681.mp4"}
+{"uid":"7164742389817037718","text":"\u003ctask:success:discrete:True\u003e\nPut the box of breakfast blend on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the box of breakfast blend on the table\n\u003c/PRED\u003e","video":"3502314390135419783.mp4"}
+{"uid":"4842859870248480927","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nopen the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4940920049779224738.mp4"}
+{"uid":"4720856362448755097","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take out 4 numi tea boxes from the top drawer onto the table, close drawer, then place the boxes into the bottom row trays. last 20 steps: 1- Open the drawer 2- place the numi box on the table 3- Put the box of golden chai on the table 4- put box on the table 5- Put the box of white rose on the table 6- close the drawer 7- Pick up the box of white rose 8- Put the box in the stand 9- pick up box Q: next 5 steps? \u003cPRED\u003eA: 1- put box in the stand 2- Put the box of gunpowder green 3- Put the box of breakfast blend in the stand 4- put box in the stand 5- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put box in the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput box in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput box in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take out 4 numi tea boxes from the top drawer onto the table, close drawer, then place the boxes into the bottom row trays. last 20 steps: 1- Open the drawer 2- place the numi box on the table 3- Put the box of golden chai on the table 4- put box on the table 5- Put the box of white rose on the table 6- close the drawer 7- Pick up the box of white rose 8- Put the box in the stand 9- pick up box Q: immediate next step? \u003cPRED\u003eA: put box in the stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put box in the stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take out 4 numi tea boxes from the top drawer onto the table, close drawer, then place the boxes into the bottom row trays. Q: immediate next step? \u003cPRED\u003eA: put box in the stand\n\u003c/PRED\u003e","video":"1632489446987009916.mp4"}
+{"uid":"9578802714560314746","text":"\u003ctask:success:discrete:True\u003e\nplace the numi box on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the numi box on the table\n\u003c/PRED\u003e","video":"18188405065979942523.mp4"}
+{"uid":"4958363274637435190","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the numi box on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the numi box on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16788607560141068030.mp4"}
+{"uid":"4483324666936043648","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the apple in a bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4695012640555778970.mp4"}
+{"uid":"8383970670171547535","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput packet in bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13509019874494510959.mp4"}
+{"uid":"10045277670289642823","text":"\u003ctask:success:discrete:True\u003e\nput box on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put box on the table\n\u003c/PRED\u003e","video":"13587771928032605871.mp4"}
+{"uid":"2650052937503762669","text":"\u003ctask:success:discrete:True\u003e\nput box in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put box in the stand\n\u003c/PRED\u003e","video":"10060952292707534004.mp4"}
+{"uid":"10578398292676681436","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nopen the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take out 4 numi tea boxes from the top drawer onto the table, close drawer, then place the boxes into the bottom row trays. Q: immediate next step? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take out 4 numi tea boxes from the top drawer onto the table, close drawer, then place the boxes into the bottom row trays. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- open the drawer 2- place the numi box on the table 3- Put the box of golden chai on the table 4- put box on the table 5- Put the box of white rose on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take out 4 numi tea boxes from the top drawer onto the table, close drawer, then place the boxes into the bottom row trays. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nopen the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15369918145899253241.mp4"}
+{"uid":"14168396627682971617","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take out 4 numi tea boxes from the top drawer onto the table, close drawer, then place the boxes into the bottom row trays. last 20 steps: 1- Open the drawer 2- place the numi box on the table 3- Put the box of golden chai on the table 4- put box on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the box of white rose on the table 2- close the drawer 3- Pick up the box of white rose 4- Put the box in the stand 5- pick up box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the box of white rose on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the box of white rose on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the box of white rose on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take out 4 numi tea boxes from the top drawer onto the table, close drawer, then place the boxes into the bottom row trays. Q: immediate next step? \u003cPRED\u003eA: Put the box of white rose on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take out 4 numi tea boxes from the top drawer onto the table, close drawer, then place the boxes into the bottom row trays. last 20 steps: 1- Open the drawer 2- place the numi box on the table 3- Put the box of golden chai on the table 4- put box on the table Q: immediate next step? \u003cPRED\u003eA: Put the box of white rose on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the box of white rose on the table\n\u003c/PRED\u003e","video":"7699721603354480759.mp4"}
+{"uid":"2460759129821278744","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the numi box in the stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the numi box in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the numi box in the stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take out 4 numi tea boxes from the top drawer onto the table, close drawer, then place the boxes into the bottom row trays. last 20 steps: 1- Open the drawer 2- place the numi box on the table 3- Put the box of golden chai on the table 4- put box on the table 5- Put the box of white rose on the table 6- close the drawer Q: immediate next step? \u003cPRED\u003eA: place the numi box in the stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take out 4 numi tea boxes from the top drawer onto the table, close drawer, then place the boxes into the bottom row trays. last 20 steps: 1- Open the drawer 2- place the numi box on the table 3- Put the box of golden chai on the table 4- put box on the table 5- Put the box of white rose on the table 6- close the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- place the numi box in the stand 2- pick up box 3- put box in the stand 4- Put the box of gunpowder green 5- Put the box of breakfast blend in the stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take out 4 numi tea boxes from the top drawer onto the table, close drawer, then place the boxes into the bottom row trays. Q: immediate next step? \u003cPRED\u003eA: place the numi box in the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the numi box in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1464686754976670098.mp4"}
+{"uid":"13289361223429300271","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nArrange stick note in the container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11995732520917715697.mp4"}
+{"uid":"16691100772596189005","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the box of breakfast blend in the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the box of breakfast blend in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9489712645563957110.mp4"}
+{"uid":"6604898647233536960","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the box of golden chai on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the box of golden chai on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3296881993229394382.mp4"}
+{"uid":"671146418805633354","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take out 4 numi tea boxes from the top drawer onto the table, close drawer, then place the boxes into the bottom row trays. last 20 steps: 1- Open the drawer 2- place the numi box on the table 3- Put the box of golden chai on the table 4- put box on the table 5- Put the box of white rose on the table 6- close the drawer 7- Pick up the box of white rose 8- Put the box in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- Put the box of golden chai in the stand 2- Put the box of gunpowder green 3- Put the box of breakfast blend in the stand 4- put box in the stand 5- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the box of golden chai in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the box of golden chai in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the box of golden chai in the stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the box of golden chai in the stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take out 4 numi tea boxes from the top drawer onto the table, close drawer, then place the boxes into the bottom row trays. last 20 steps: 1- Open the drawer 2- place the numi box on the table 3- Put the box of golden chai on the table 4- put box on the table 5- Put the box of white rose on the table 6- close the drawer 7- Pick up the box of white rose 8- Put the box in the stand Q: immediate next step? \u003cPRED\u003eA: Put the box of golden chai in the stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take out 4 numi tea boxes from the top drawer onto the table, close drawer, then place the boxes into the bottom row trays. Q: immediate next step? \u003cPRED\u003eA: Put the box of golden chai in the stand\n\u003c/PRED\u003e","video":"10036314054267111370.mp4"}
+{"uid":"16036040483261734367","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15734200503807475023.mp4"}
+{"uid":"15589507271906638208","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put box on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput box on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13569495075865774888.mp4"}
+{"uid":"264828903217792843","text":"\u003ctask:success:discrete:False\u003e\nplace the numi box in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take out 4 numi tea boxes from the top drawer onto the table, close drawer, then place the boxes into the bottom row trays. last 20 steps: 1- Open the drawer 2- place the numi box on the table 3- Put the box of golden chai on the table 4- put box on the table 5- Put the box of white rose on the table 6- close the drawer 7- Pick up the box of white rose 8- Put the box in the stand Q: immediate next step? \u003cPRED\u003eA: place the numi box in the stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the numi box in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the numi box in the stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the numi box in the stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take out 4 numi tea boxes from the top drawer onto the table, close drawer, then place the boxes into the bottom row trays. Q: immediate next step? \u003cPRED\u003eA: place the numi box in the stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take out 4 numi tea boxes from the top drawer onto the table, close drawer, then place the boxes into the bottom row trays. last 20 steps: 1- Open the drawer 2- place the numi box on the table 3- Put the box of golden chai on the table 4- put box on the table 5- Put the box of white rose on the table 6- close the drawer 7- Pick up the box of white rose 8- Put the box in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- place the numi box in the stand 2- Put the box of gunpowder green 3- Put the box of breakfast blend in the stand 4- put box in the stand 5- done\n\u003c/PRED\u003e","video":"13157586331613474137.mp4"}
+{"uid":"14933338947729545167","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the    glass upside down Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4422877248648522458.mp4"}
+{"uid":"17083674412993451030","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take out 4 numi tea boxes from the top drawer onto the table, close drawer, then place the boxes into the bottom row trays. last 20 steps: 1- Open the drawer 2- place the numi box on the table 3- Put the box of golden chai on the table 4- put box on the table 5- Put the box of white rose on the table 6- close the drawer 7- Pick up the box of white rose 8- Put the box in the stand 9- pick up box 10- put box in the stand 11- Put the box of gunpowder green Q: immediate next step? \u003cPRED\u003eA: put box in the stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put box in the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput box in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput box in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put box in the stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take out 4 numi tea boxes from the top drawer onto the table, close drawer, then place the boxes into the bottom row trays. last 20 steps: 1- Open the drawer 2- place the numi box on the table 3- Put the box of golden chai on the table 4- put box on the table 5- Put the box of white rose on the table 6- close the drawer 7- Pick up the box of white rose 8- Put the box in the stand 9- pick up box 10- put box in the stand 11- Put the box of gunpowder green Q: next 5 steps? \u003cPRED\u003eA: 1- put box in the stand 2- put box in the stand 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take out 4 numi tea boxes from the top drawer onto the table, close drawer, then place the boxes into the bottom row trays. Q: immediate next step? \u003cPRED\u003eA: put box in the stand\n\u003c/PRED\u003e","video":"16385713548349132505.mp4"}
+{"uid":"3847128664754265746","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput candy in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15692892921814920466.mp4"}
+{"uid":"4846322954775184034","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: take out 4 numi tea boxes from the top drawer onto the table, close drawer, then place the boxes into the bottom row trays. Q: immediate next step? \u003cPRED\u003eA: Put the box of breakfast blend in the stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the box of breakfast blend in the stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the box of breakfast blend in the stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take out 4 numi tea boxes from the top drawer onto the table, close drawer, then place the boxes into the bottom row trays. last 20 steps: 1- Open the drawer 2- place the numi box on the table 3- Put the box of golden chai on the table 4- put box on the table 5- Put the box of white rose on the table 6- close the drawer 7- Pick up the box of white rose 8- Put the box in the stand 9- pick up box 10- put box in the stand 11- Put the box of gunpowder green Q: next 5 steps? \u003cPRED\u003eA: 1- Put the box of breakfast blend in the stand 2- put box in the stand 3- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the box of breakfast blend in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the box of breakfast blend in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take out 4 numi tea boxes from the top drawer onto the table, close drawer, then place the boxes into the bottom row trays. last 20 steps: 1- Open the drawer 2- place the numi box on the table 3- Put the box of golden chai on the table 4- put box on the table 5- Put the box of white rose on the table 6- close the drawer 7- Pick up the box of white rose 8- Put the box in the stand 9- pick up box 10- put box in the stand 11- Put the box of gunpowder green Q: immediate next step? \u003cPRED\u003eA: Put the box of breakfast blend in the stand\n\u003c/PRED\u003e","video":"127527901502235970.mp4"}
+{"uid":"4161641265194617382","text":"\u003ctask:success:discrete:True\u003e\nput box in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put box in the stand\n\u003c/PRED\u003e","video":"9066518998581419496.mp4"}
+{"uid":"12441654804803384654","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take out 4 numi tea boxes from the top drawer onto the table, close drawer, then place the boxes into the bottom row trays. last 20 steps: 1- Open the drawer 2- place the numi box on the table 3- Put the box of golden chai on the table 4- put box on the table 5- Put the box of white rose on the table 6- close the drawer 7- Pick up the box of white rose 8- Put the box in the stand 9- pick up box 10- put box in the stand Q: immediate next step? \u003cPRED\u003eA: pick up box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take out 4 numi tea boxes from the top drawer onto the table, close drawer, then place the boxes into the bottom row trays. last 20 steps: 1- Open the drawer 2- place the numi box on the table 3- Put the box of golden chai on the table 4- put box on the table 5- Put the box of white rose on the table 6- close the drawer 7- Pick up the box of white rose 8- Put the box in the stand 9- pick up box 10- put box in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- pick up box 2- Put the box of breakfast blend in the stand 3- put box in the stand 4- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take out 4 numi tea boxes from the top drawer onto the table, close drawer, then place the boxes into the bottom row trays. Q: immediate next step? \u003cPRED\u003eA: pick up box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18244843821299747419.mp4"}
+{"uid":"15954777865985670650","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick up box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14978720380882154798.mp4"}
+{"uid":"13159151906625434947","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput toy in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18195832715609535573.mp4"}
+{"uid":"16956844343558181517","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the orange in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10288004316053940988.mp4"}
+{"uid":"7083459205202824944","text":"\u003ctask:success:discrete:True\u003e\nplace the numi box in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the numi box in the stand\n\u003c/PRED\u003e","video":"8796163394394159742.mp4"}
+{"uid":"572003735683580857","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take out 4 numi tea boxes from the top drawer onto the table, close drawer, then place the boxes into the bottom row trays. last 20 steps: 1- Open the drawer 2- place the numi box on the table 3- Put the box of golden chai on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put box on the table 2- Put the box of white rose on the table 3- close the drawer 4- Pick up the box of white rose 5- Put the box in the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput box on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput box on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put box on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take out 4 numi tea boxes from the top drawer onto the table, close drawer, then place the boxes into the bottom row trays. last 20 steps: 1- Open the drawer 2- place the numi box on the table 3- Put the box of golden chai on the table Q: immediate next step? \u003cPRED\u003eA: put box on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put box on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take out 4 numi tea boxes from the top drawer onto the table, close drawer, then place the boxes into the bottom row trays. Q: immediate next step? \u003cPRED\u003eA: put box on the table\n\u003c/PRED\u003e","video":"15171797862772023451.mp4"}
+{"uid":"14695869307314017138","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop black bag in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11271269973069000267.mp4"}
+{"uid":"518882654285027113","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take out 4 numi tea boxes from the top drawer onto the table, close drawer, then place the boxes into the bottom row trays. last 20 steps: 1- Open the drawer 2- place the numi box on the table 3- Put the box of golden chai on the table 4- put box on the table 5- Put the box of white rose on the table Q: next 5 steps? \u003cPRED\u003eA: 1- close the drawer 2- Pick up the box of white rose 3- Put the box in the stand 4- pick up box 5- put box in the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nclose the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nclose the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take out 4 numi tea boxes from the top drawer onto the table, close drawer, then place the boxes into the bottom row trays. Q: immediate next step? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take out 4 numi tea boxes from the top drawer onto the table, close drawer, then place the boxes into the bottom row trays. last 20 steps: 1- Open the drawer 2- place the numi box on the table 3- Put the box of golden chai on the table 4- put box on the table 5- Put the box of white rose on the table Q: immediate next step? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e","video":"5024798744071700154.mp4"}
+{"uid":"7278524958331487943","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take out 4 numi tea boxes from the top drawer onto the table, close drawer, then place the boxes into the bottom row trays. last 20 steps: 1- Open the drawer 2- place the numi box on the table 3- Put the box of golden chai on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the box of gunpowder green on the table 2- Put the box of white rose on the table 3- close the drawer 4- Pick up the box of white rose 5- Put the box in the stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the box of gunpowder green on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the box of gunpowder green on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the box of gunpowder green on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take out 4 numi tea boxes from the top drawer onto the table, close drawer, then place the boxes into the bottom row trays. last 20 steps: 1- Open the drawer 2- place the numi box on the table 3- Put the box of golden chai on the table Q: immediate next step? \u003cPRED\u003eA: Put the box of gunpowder green on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take out 4 numi tea boxes from the top drawer onto the table, close drawer, then place the boxes into the bottom row trays. Q: immediate next step? \u003cPRED\u003eA: Put the box of gunpowder green on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the box of gunpowder green on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"532491491041012035.mp4"}
+{"uid":"11710505563631426128","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput a yellow candy in a paper cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2604775339703367695.mp4"}
+{"uid":"17175204582647647382","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput candy in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13041836714512083255.mp4"}
+{"uid":"14864314811683180066","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take out 4 numi tea boxes from the top drawer onto the table, close drawer, then place the boxes into the bottom row trays. last 20 steps: 1- Open the drawer 2- place the numi box on the table 3- Put the box of golden chai on the table 4- put box on the table 5- Put the box of white rose on the table 6- close the drawer 7- Pick up the box of white rose 8- Put the box in the stand 9- pick up box 10- put box in the stand 11- Put the box of gunpowder green Q: next 5 steps? \u003cPRED\u003eA: 1- place the numi box in the stand 2- put box in the stand 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the numi box in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the numi box in the stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the numi box in the stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take out 4 numi tea boxes from the top drawer onto the table, close drawer, then place the boxes into the bottom row trays. last 20 steps: 1- Open the drawer 2- place the numi box on the table 3- Put the box of golden chai on the table 4- put box on the table 5- Put the box of white rose on the table 6- close the drawer 7- Pick up the box of white rose 8- Put the box in the stand 9- pick up box 10- put box in the stand 11- Put the box of gunpowder green Q: immediate next step? \u003cPRED\u003eA: place the numi box in the stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take out 4 numi tea boxes from the top drawer onto the table, close drawer, then place the boxes into the bottom row trays. Q: immediate next step? \u003cPRED\u003eA: place the numi box in the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the numi box in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1417446857543401285.mp4"}
+{"uid":"14625737022904480751","text":"\u003ctask:success:discrete:True\u003e\nopen the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e","video":"16652051105013371451.mp4"}
+{"uid":"10806417936466969125","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the numi box in the stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the numi box in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the numi box in the stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take out 4 numi tea boxes from the top drawer onto the table, close drawer, then place the boxes into the bottom row trays. last 20 steps: 1- Open the drawer 2- place the numi box on the table 3- Put the box of golden chai on the table 4- put box on the table 5- Put the box of white rose on the table 6- close the drawer 7- Pick up the box of white rose 8- Put the box in the stand 9- pick up box 10- put box in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- place the numi box in the stand 2- Put the box of breakfast blend in the stand 3- put box in the stand 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take out 4 numi tea boxes from the top drawer onto the table, close drawer, then place the boxes into the bottom row trays. last 20 steps: 1- Open the drawer 2- place the numi box on the table 3- Put the box of golden chai on the table 4- put box on the table 5- Put the box of white rose on the table 6- close the drawer 7- Pick up the box of white rose 8- Put the box in the stand 9- pick up box 10- put box in the stand Q: immediate next step? \u003cPRED\u003eA: place the numi box in the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the numi box in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take out 4 numi tea boxes from the top drawer onto the table, close drawer, then place the boxes into the bottom row trays. Q: immediate next step? \u003cPRED\u003eA: place the numi box in the stand\n\u003c/PRED\u003e","video":"6740747979409637661.mp4"}
+{"uid":"16426637169843567329","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take out 4 numi tea boxes from the top drawer onto the table, close drawer, then place the boxes into the bottom row trays. last 20 steps: 1- Open the drawer 2- place the numi box on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put box on the table 2- put box on the table 3- Put the box of white rose on the table 4- close the drawer 5- Pick up the box of white rose\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put box on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput box on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput box on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take out 4 numi tea boxes from the top drawer onto the table, close drawer, then place the boxes into the bottom row trays. Q: immediate next step? \u003cPRED\u003eA: put box on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put box on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take out 4 numi tea boxes from the top drawer onto the table, close drawer, then place the boxes into the bottom row trays. last 20 steps: 1- Open the drawer 2- place the numi box on the table Q: immediate next step? \u003cPRED\u003eA: put box on the table\n\u003c/PRED\u003e","video":"14256241257295290000.mp4"}
+{"uid":"5545925231933555414","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take out 4 numi tea boxes from the top drawer onto the table, close drawer, then place the boxes into the bottom row trays. last 20 steps: 1- Open the drawer Q: immediate next step? \u003cPRED\u003eA: put box on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take out 4 numi tea boxes from the top drawer onto the table, close drawer, then place the boxes into the bottom row trays. last 20 steps: 1- Open the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- put box on the table 2- Put the box of golden chai on the table 3- put box on the table 4- Put the box of white rose on the table 5- close the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put box on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput box on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput box on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take out 4 numi tea boxes from the top drawer onto the table, close drawer, then place the boxes into the bottom row trays. Q: immediate next step? \u003cPRED\u003eA: put box on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put box on the table\n\u003c/PRED\u003e","video":"14378861575222353784.mp4"}
+{"uid":"7906894406855834228","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput box on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take out 4 numi tea boxes from the top drawer onto the table, close drawer, then place the boxes into the bottom row trays. last 20 steps: 1- Open the drawer 2- place the numi box on the table 3- Put the box of golden chai on the table 4- put box on the table Q: immediate next step? \u003cPRED\u003eA: put box on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take out 4 numi tea boxes from the top drawer onto the table, close drawer, then place the boxes into the bottom row trays. Q: immediate next step? \u003cPRED\u003eA: put box on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put box on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take out 4 numi tea boxes from the top drawer onto the table, close drawer, then place the boxes into the bottom row trays. last 20 steps: 1- Open the drawer 2- place the numi box on the table 3- Put the box of golden chai on the table 4- put box on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put box on the table 2- close the drawer 3- Pick up the box of white rose 4- Put the box in the stand 5- pick up box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put box on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput box on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15916814810672931039.mp4"}
+{"uid":"13506941846204881592","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14519728983188134436.mp4"}
+{"uid":"5950160544755360291","text":"\u003ctask:success:discrete:True\u003e\nplace the numi box on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the numi box on the table\n\u003c/PRED\u003e","video":"14850249634663504244.mp4"}
+{"uid":"6044513527630220222","text":"\u003ctask:success:discrete:True\u003e\npick up box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up box\n\u003c/PRED\u003e","video":"17875350715708124195.mp4"}
+{"uid":"15057936211185239328","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4356032660120623713.mp4"}
+{"uid":"8330371667235040143","text":"\u003ctask:success:discrete:False\u003e\nPut the box of gunpowder green Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take out 4 numi tea boxes from the top drawer onto the table, close drawer, then place the boxes into the bottom row trays. last 20 steps: 1- Open the drawer 2- place the numi box on the table 3- Put the box of golden chai on the table 4- put box on the table 5- Put the box of white rose on the table 6- close the drawer 7- Pick up the box of white rose 8- Put the box in the stand 9- pick up box 10- put box in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- Put the box of gunpowder green 2- Put the box of breakfast blend in the stand 3- put box in the stand 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the box of gunpowder green\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take out 4 numi tea boxes from the top drawer onto the table, close drawer, then place the boxes into the bottom row trays. Q: immediate next step? \u003cPRED\u003eA: Put the box of gunpowder green\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take out 4 numi tea boxes from the top drawer onto the table, close drawer, then place the boxes into the bottom row trays. last 20 steps: 1- Open the drawer 2- place the numi box on the table 3- Put the box of golden chai on the table 4- put box on the table 5- Put the box of white rose on the table 6- close the drawer 7- Pick up the box of white rose 8- Put the box in the stand 9- pick up box 10- put box in the stand Q: immediate next step? \u003cPRED\u003eA: Put the box of gunpowder green\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the box of gunpowder green Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the box of gunpowder green\n\u003c/PRED\u003e","video":"16656243638412709103.mp4"}
+{"uid":"6091046078669783179","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: take out 4 numi tea boxes from the top drawer onto the table, close drawer, then place the boxes into the bottom row trays. Q: immediate next step? \u003cPRED\u003eA: put box in the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput box in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput box in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put box in the stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take out 4 numi tea boxes from the top drawer onto the table, close drawer, then place the boxes into the bottom row trays. last 20 steps: 1- Open the drawer 2- place the numi box on the table 3- Put the box of golden chai on the table 4- put box on the table 5- Put the box of white rose on the table 6- close the drawer 7- Pick up the box of white rose Q: next 5 steps? \u003cPRED\u003eA: 1- put box in the stand 2- pick up box 3- put box in the stand 4- Put the box of gunpowder green 5- Put the box of breakfast blend in the stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put box in the stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take out 4 numi tea boxes from the top drawer onto the table, close drawer, then place the boxes into the bottom row trays. last 20 steps: 1- Open the drawer 2- place the numi box on the table 3- Put the box of golden chai on the table 4- put box on the table 5- Put the box of white rose on the table 6- close the drawer 7- Pick up the box of white rose Q: immediate next step? \u003cPRED\u003eA: put box in the stand\n\u003c/PRED\u003e","video":"7174373607477248484.mp4"}
+{"uid":"11818748171996326217","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up the packet Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17274043988627403022.mp4"}
+{"uid":"9787668935073623934","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the  packets into the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5843111233701418053.mp4"}
+{"uid":"16610397769745413934","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take out 4 numi tea boxes from the top drawer onto the table, close drawer, then place the boxes into the bottom row trays. last 20 steps: 1- Open the drawer 2- place the numi box on the table 3- Put the box of golden chai on the table 4- put box on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the numi box on the table 2- close the drawer 3- Pick up the box of white rose 4- Put the box in the stand 5- pick up box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the numi box on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take out 4 numi tea boxes from the top drawer onto the table, close drawer, then place the boxes into the bottom row trays. last 20 steps: 1- Open the drawer 2- place the numi box on the table 3- Put the box of golden chai on the table 4- put box on the table Q: immediate next step? \u003cPRED\u003eA: place the numi box on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the numi box on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take out 4 numi tea boxes from the top drawer onto the table, close drawer, then place the boxes into the bottom row trays. Q: immediate next step? \u003cPRED\u003eA: place the numi box on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the numi box on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the numi box on the table\n\u003c/PRED\u003e","video":"12258713396575696672.mp4"}
+{"uid":"14266793025507350426","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the red cable into the trap door Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11030277642758444621.mp4"}
+{"uid":"3595215664597904939","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nopen the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18215124178311931757.mp4"}
+{"uid":"17454812095656757987","text":"\u003ctask:success:discrete:False\u003e\nplace the numi box on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the numi box on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take out 4 numi tea boxes from the top drawer onto the table, close drawer, then place the boxes into the bottom row trays. Q: immediate next step? \u003cPRED\u003eA: place the numi box on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take out 4 numi tea boxes from the top drawer onto the table, close drawer, then place the boxes into the bottom row trays. last 20 steps: 1- Open the drawer 2- place the numi box on the table Q: immediate next step? \u003cPRED\u003eA: place the numi box on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take out 4 numi tea boxes from the top drawer onto the table, close drawer, then place the boxes into the bottom row trays. last 20 steps: 1- Open the drawer 2- place the numi box on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the numi box on the table 2- put box on the table 3- Put the box of white rose on the table 4- close the drawer 5- Pick up the box of white rose\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the numi box on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the numi box on the table\n\u003c/PRED\u003e","video":"178978480488529211.mp4"}
+{"uid":"13562100407872991363","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take out 4 numi tea boxes from the top drawer onto the table, close drawer, then place the boxes into the bottom row trays. last 20 steps: 1- Open the drawer 2- place the numi box on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the box of golden chai on the table 2- put box on the table 3- Put the box of white rose on the table 4- close the drawer 5- Pick up the box of white rose\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take out 4 numi tea boxes from the top drawer onto the table, close drawer, then place the boxes into the bottom row trays. last 20 steps: 1- Open the drawer 2- place the numi box on the table Q: immediate next step? \u003cPRED\u003eA: Put the box of golden chai on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the box of golden chai on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the box of golden chai on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take out 4 numi tea boxes from the top drawer onto the table, close drawer, then place the boxes into the bottom row trays. Q: immediate next step? \u003cPRED\u003eA: Put the box of golden chai on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the box of golden chai on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the box of golden chai on the table\n\u003c/PRED\u003e","video":"11191175368142010501.mp4"}
+{"uid":"150495218096136319","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput redbull in tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16450363927548115099.mp4"}
+{"uid":"16460798134066449345","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace banana on the plate Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9533200493367058862.mp4"}
+{"uid":"15976968735204880345","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the invisible tape box on the sticky notes Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16216623311130273826.mp4"}
+{"uid":"6268041545444927320","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput pear on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8600890409708664853.mp4"}
+{"uid":"7807567641587014812","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the  green candy in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10199616774173305260.mp4"}
+{"uid":"12369561135455733666","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take out 4 numi tea boxes from the top drawer onto the table, close drawer, then place the boxes into the bottom row trays. last 20 steps: 1- Open the drawer 2- place the numi box on the table 3- Put the box of golden chai on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the numi box on the table 2- Put the box of white rose on the table 3- close the drawer 4- Pick up the box of white rose 5- Put the box in the stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the numi box on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the numi box on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the numi box on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take out 4 numi tea boxes from the top drawer onto the table, close drawer, then place the boxes into the bottom row trays. Q: immediate next step? \u003cPRED\u003eA: place the numi box on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the numi box on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take out 4 numi tea boxes from the top drawer onto the table, close drawer, then place the boxes into the bottom row trays. last 20 steps: 1- Open the drawer 2- place the numi box on the table 3- Put the box of golden chai on the table Q: immediate next step? \u003cPRED\u003eA: place the numi box on the table\n\u003c/PRED\u003e","video":"14124131147912964441.mp4"}
+{"uid":"3969584169152431872","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take out 4 numi tea boxes from the top drawer onto the table, close drawer, then place the boxes into the bottom row trays. last 20 steps: 1- Open the drawer 2- place the numi box on the table 3- Put the box of golden chai on the table 4- put box on the table 5- Put the box of white rose on the table 6- close the drawer 7- Pick up the box of white rose 8- Put the box in the stand 9- pick up box 10- put box in the stand 11- Put the box of gunpowder green 12- Put the box of breakfast blend in the stand Q: immediate next step? \u003cPRED\u003eA: put box in the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput box in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put box in the stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put box in the stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take out 4 numi tea boxes from the top drawer onto the table, close drawer, then place the boxes into the bottom row trays. last 20 steps: 1- Open the drawer 2- place the numi box on the table 3- Put the box of golden chai on the table 4- put box on the table 5- Put the box of white rose on the table 6- close the drawer 7- Pick up the box of white rose 8- Put the box in the stand 9- pick up box 10- put box in the stand 11- Put the box of gunpowder green 12- Put the box of breakfast blend in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- put box in the stand 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput box in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take out 4 numi tea boxes from the top drawer onto the table, close drawer, then place the boxes into the bottom row trays. Q: immediate next step? \u003cPRED\u003eA: put box in the stand\n\u003c/PRED\u003e","video":"3452010211788031105.mp4"}
+{"uid":"4993955442486001307","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the pen on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"74257741778493824.mp4"}
+{"uid":"11507176715436689053","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the box of breakfast blend on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the box of breakfast blend on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take out 4 numi tea boxes from the top drawer onto the table, close drawer, then place the boxes into the bottom row trays. last 20 steps: 1- Open the drawer Q: immediate next step? \u003cPRED\u003eA: Put the box of breakfast blend on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take out 4 numi tea boxes from the top drawer onto the table, close drawer, then place the boxes into the bottom row trays. Q: immediate next step? \u003cPRED\u003eA: Put the box of breakfast blend on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take out 4 numi tea boxes from the top drawer onto the table, close drawer, then place the boxes into the bottom row trays. last 20 steps: 1- Open the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- Put the box of breakfast blend on the table 2- Put the box of golden chai on the table 3- put box on the table 4- Put the box of white rose on the table 5- close the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the box of breakfast blend on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the box of breakfast blend on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13977500791101428027.mp4"}
+{"uid":"10986298811642257765","text":"\u003ctask:success:discrete:True\u003e\nOpen the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Open the drawer\n\u003c/PRED\u003e","video":"569316100575904057.mp4"}
+{"uid":"7500103807028414714","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput toy in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8327042836706577237.mp4"}
+{"uid":"9579243179382771177","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take out 4 numi tea boxes from the top drawer onto the table, close drawer, then place the boxes into the bottom row trays. last 20 steps: 1- Open the drawer 2- place the numi box on the table 3- Put the box of golden chai on the table 4- put box on the table 5- Put the box of white rose on the table 6- close the drawer 7- Pick up the box of white rose 8- Put the box in the stand 9- pick up box 10- put box in the stand 11- Put the box of gunpowder green Q: next 5 steps? \u003cPRED\u003eA: 1- pick up box 2- put box in the stand 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take out 4 numi tea boxes from the top drawer onto the table, close drawer, then place the boxes into the bottom row trays. Q: immediate next step? \u003cPRED\u003eA: pick up box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take out 4 numi tea boxes from the top drawer onto the table, close drawer, then place the boxes into the bottom row trays. last 20 steps: 1- Open the drawer 2- place the numi box on the table 3- Put the box of golden chai on the table 4- put box on the table 5- Put the box of white rose on the table 6- close the drawer 7- Pick up the box of white rose 8- Put the box in the stand 9- pick up box 10- put box in the stand 11- Put the box of gunpowder green Q: immediate next step? \u003cPRED\u003eA: pick up box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6108641052650888308.mp4"}
+{"uid":"33542012197789740","text":"\u003ctask:success:discrete:False\u003e\nclose the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nclose the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take out 4 numi tea boxes from the top drawer onto the table, close drawer, then place the boxes into the bottom row trays. last 20 steps: 1- Open the drawer 2- place the numi box on the table 3- Put the box of golden chai on the table 4- put box on the table 5- Put the box of white rose on the table Q: next 5 steps? \u003cPRED\u003eA: 1- close the drawer 2- Pick up the box of white rose 3- Put the box in the stand 4- pick up box 5- put box in the stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take out 4 numi tea boxes from the top drawer onto the table, close drawer, then place the boxes into the bottom row trays. last 20 steps: 1- Open the drawer 2- place the numi box on the table 3- Put the box of golden chai on the table 4- put box on the table 5- Put the box of white rose on the table Q: immediate next step? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take out 4 numi tea boxes from the top drawer onto the table, close drawer, then place the boxes into the bottom row trays. Q: immediate next step? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e","video":"4372672516722646990.mp4"}
+{"uid":"16029734965788933478","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nGrab the cap Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17361528738009774058.mp4"}
+{"uid":"6533192801188866897","text":"\u003ctask:success:discrete:True\u003e\nPut the box of gunpowder green on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the box of gunpowder green on the table\n\u003c/PRED\u003e","video":"523075110006211730.mp4"}
+{"uid":"10981267751163529640","text":"\u003ctask:success:discrete:True\u003e\nplace the numi box in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the numi box in the stand\n\u003c/PRED\u003e","video":"10221403490377460004.mp4"}
+{"uid":"17876904902822870033","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the numi box on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the numi box on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take out 4 numi tea boxes from the top drawer onto the table, close drawer, then place the boxes into the bottom row trays. last 20 steps: 1- Open the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- place the numi box on the table 2- Put the box of golden chai on the table 3- put box on the table 4- Put the box of white rose on the table 5- close the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take out 4 numi tea boxes from the top drawer onto the table, close drawer, then place the boxes into the bottom row trays. last 20 steps: 1- Open the drawer Q: immediate next step? \u003cPRED\u003eA: place the numi box on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the numi box on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the numi box on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take out 4 numi tea boxes from the top drawer onto the table, close drawer, then place the boxes into the bottom row trays. Q: immediate next step? \u003cPRED\u003eA: place the numi box on the table\n\u003c/PRED\u003e","video":"14716700046925392396.mp4"}
+{"uid":"14198236430958476498","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the black pens in the plastic glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13969359867054711778.mp4"}
+{"uid":"520480213075579254","text":"\u003ctask:success:discrete:True\u003e\nPut the box of white rose on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the box of white rose on the table\n\u003c/PRED\u003e","video":"11087834022468110937.mp4"}
+{"uid":"5925364833712702160","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the box of golden chai in the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the box of golden chai in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8149834302642972170.mp4"}
+{"uid":"8130909349579095274","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take out 4 numi tea boxes from the top drawer onto the table, close drawer, then place the boxes into the bottom row trays. last 20 steps: 1- Open the drawer 2- place the numi box on the table 3- Put the box of golden chai on the table 4- put box on the table 5- Put the box of white rose on the table Q: immediate next step? \u003cPRED\u003eA: Close the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nClose the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take out 4 numi tea boxes from the top drawer onto the table, close drawer, then place the boxes into the bottom row trays. Q: immediate next step? \u003cPRED\u003eA: Close the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take out 4 numi tea boxes from the top drawer onto the table, close drawer, then place the boxes into the bottom row trays. last 20 steps: 1- Open the drawer 2- place the numi box on the table 3- Put the box of golden chai on the table 4- put box on the table 5- Put the box of white rose on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Close the drawer 2- Pick up the box of white rose 3- Put the box in the stand 4- pick up box 5- put box in the stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nClose the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Close the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Close the drawer\n\u003c/PRED\u003e","video":"2708706631129234407.mp4"}
+{"uid":"2070075635318934088","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmix the coffee Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17582896623123398468.mp4"}
+{"uid":"3531143594185427022","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Open the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take out 4 numi tea boxes from the top drawer onto the table, close drawer, then place the boxes into the bottom row trays. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Open the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take out 4 numi tea boxes from the top drawer onto the table, close drawer, then place the boxes into the bottom row trays. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Open the drawer 2- place the numi box on the table 3- Put the box of golden chai on the table 4- put box on the table 5- Put the box of white rose on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take out 4 numi tea boxes from the top drawer onto the table, close drawer, then place the boxes into the bottom row trays. Q: immediate next step? \u003cPRED\u003eA: Open the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nOpen the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Open the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nOpen the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14882553479268489481.mp4"}
+{"uid":"13430838365780133612","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the marker near other marker Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8509840198129070686.mp4"}
+{"uid":"5527961063505454882","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nenter the room Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16272449882059585360.mp4"}
+{"uid":"4591477116551965816","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\npick up box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take out 4 numi tea boxes from the top drawer onto the table, close drawer, then place the boxes into the bottom row trays. last 20 steps: 1- Open the drawer 2- place the numi box on the table 3- Put the box of golden chai on the table 4- put box on the table 5- Put the box of white rose on the table 6- close the drawer 7- Pick up the box of white rose 8- Put the box in the stand Q: immediate next step? \u003cPRED\u003eA: pick up box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take out 4 numi tea boxes from the top drawer onto the table, close drawer, then place the boxes into the bottom row trays. last 20 steps: 1- Open the drawer 2- place the numi box on the table 3- Put the box of golden chai on the table 4- put box on the table 5- Put the box of white rose on the table 6- close the drawer 7- Pick up the box of white rose 8- Put the box in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- pick up box 2- put box in the stand 3- Put the box of gunpowder green 4- Put the box of breakfast blend in the stand 5- put box in the stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take out 4 numi tea boxes from the top drawer onto the table, close drawer, then place the boxes into the bottom row trays. Q: immediate next step? \u003cPRED\u003eA: pick up box\n\u003c/PRED\u003e","video":"10998322068495448000.mp4"}
+{"uid":"12708539429721019125","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput box in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put box in the stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take out 4 numi tea boxes from the top drawer onto the table, close drawer, then place the boxes into the bottom row trays. last 20 steps: 1- Open the drawer 2- place the numi box on the table 3- Put the box of golden chai on the table 4- put box on the table 5- Put the box of white rose on the table 6- close the drawer 7- Pick up the box of white rose 8- Put the box in the stand 9- pick up box 10- put box in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- put box in the stand 2- Put the box of breakfast blend in the stand 3- put box in the stand 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put box in the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput box in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take out 4 numi tea boxes from the top drawer onto the table, close drawer, then place the boxes into the bottom row trays. Q: immediate next step? \u003cPRED\u003eA: put box in the stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take out 4 numi tea boxes from the top drawer onto the table, close drawer, then place the boxes into the bottom row trays. last 20 steps: 1- Open the drawer 2- place the numi box on the table 3- Put the box of golden chai on the table 4- put box on the table 5- Put the box of white rose on the table 6- close the drawer 7- Pick up the box of white rose 8- Put the box in the stand 9- pick up box 10- put box in the stand Q: immediate next step? \u003cPRED\u003eA: put box in the stand\n\u003c/PRED\u003e","video":"15356864282870970316.mp4"}
+{"uid":"8139392019482208033","text":"\u003ctask:success:discrete:True\u003e\nplace the numi box on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the numi box on the table\n\u003c/PRED\u003e","video":"16169267612635045814.mp4"}
+{"uid":"2442495451410087622","text":"\u003ctask:success:discrete:True\u003e\nput box on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put box on the table\n\u003c/PRED\u003e","video":"942109454083761011.mp4"}
+{"uid":"11128292255496585942","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8547803764773458951.mp4"}
+{"uid":"12482425777167822564","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nopen the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13966990473230021429.mp4"}
+{"uid":"3102083504387257272","text":"\u003ctask:success:discrete:False\u003e\nPut the box in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the box in the stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the box in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take out 4 numi tea boxes from the top drawer onto the table, close drawer, then place the boxes into the bottom row trays. last 20 steps: 1- Open the drawer 2- place the numi box on the table 3- Put the box of golden chai on the table 4- put box on the table 5- Put the box of white rose on the table 6- close the drawer 7- Pick up the box of white rose Q: next 5 steps? \u003cPRED\u003eA: 1- Put the box in the stand 2- pick up box 3- put box in the stand 4- Put the box of gunpowder green 5- Put the box of breakfast blend in the stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take out 4 numi tea boxes from the top drawer onto the table, close drawer, then place the boxes into the bottom row trays. last 20 steps: 1- Open the drawer 2- place the numi box on the table 3- Put the box of golden chai on the table 4- put box on the table 5- Put the box of white rose on the table 6- close the drawer 7- Pick up the box of white rose Q: immediate next step? \u003cPRED\u003eA: Put the box in the stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take out 4 numi tea boxes from the top drawer onto the table, close drawer, then place the boxes into the bottom row trays. Q: immediate next step? \u003cPRED\u003eA: Put the box in the stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the box in the stand\n\u003c/PRED\u003e","video":"13654906826466093221.mp4"}
+{"uid":"17041352423840659178","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nopen the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take out 4 numi tea boxes from the top drawer onto the table, close drawer, then place the boxes into the bottom row trays. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- open the drawer 2- place the numi box on the table 3- Put the box of golden chai on the table 4- put box on the table 5- Put the box of white rose on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take out 4 numi tea boxes from the top drawer onto the table, close drawer, then place the boxes into the bottom row trays. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take out 4 numi tea boxes from the top drawer onto the table, close drawer, then place the boxes into the bottom row trays. Q: immediate next step? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nopen the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e","video":"16670435217014989866.mp4"}
+{"uid":"9399452273560778666","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the apple in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14442353536225368579.mp4"}
+{"uid":"14167936442417902262","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace a glass in sequence with other glasses Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8451468744384066141.mp4"}
+{"uid":"2950254526268040839","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace apple in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1433250247869627483.mp4"}
+{"uid":"9484856203375279079","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the box of gunpowder green\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the box of gunpowder green Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17653709529084597424.mp4"}
+{"uid":"2029814025450267699","text":"\u003ctask:success:discrete:True\u003e\nplace the numi box in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the numi box in the stand\n\u003c/PRED\u003e","video":"4342817225680094340.mp4"}
+{"uid":"17143599464807070068","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace candy in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14877026185046212099.mp4"}
+{"uid":"10124344995750013647","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the numi box in the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the numi box in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10978892333677344034.mp4"}
+{"uid":"8750438844026345338","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the box of white rose\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take out 4 numi tea boxes from the top drawer onto the table, close drawer, then place the boxes into the bottom row trays. last 20 steps: 1- Open the drawer 2- place the numi box on the table 3- Put the box of golden chai on the table 4- put box on the table 5- Put the box of white rose on the table 6- close the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the box of white rose 2- Put the box in the stand 3- pick up box 4- put box in the stand 5- Put the box of gunpowder green\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take out 4 numi tea boxes from the top drawer onto the table, close drawer, then place the boxes into the bottom row trays. Q: immediate next step? \u003cPRED\u003eA: Pick up the box of white rose\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the box of white rose Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the box of white rose Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take out 4 numi tea boxes from the top drawer onto the table, close drawer, then place the boxes into the bottom row trays. last 20 steps: 1- Open the drawer 2- place the numi box on the table 3- Put the box of golden chai on the table 4- put box on the table 5- Put the box of white rose on the table 6- close the drawer Q: immediate next step? \u003cPRED\u003eA: Pick up the box of white rose\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the box of white rose\n\u003c/PRED\u003e","video":"10444820202800218177.mp4"}
+{"uid":"6001525521843158170","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nunstuck the red glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8580529510928867374.mp4"}
+{"uid":"17695345975776447059","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place all red pens into one pen holder. last 20 steps: 1- pick up the orange pen 2- put the orange pen in the pen holder 3- put the pen into the pen holder 4- put the pen in the pen stand 5- pick up the orange pen Q: next 5 steps? \u003cPRED\u003eA: 1- put the orange pen in the pen holder 2- pick up the orange pen 3- put the orange pen in the pen holder 4- put the pen into the pen holder 5- put the pen into the pen holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place all red pens into one pen holder. Q: immediate next step? \u003cPRED\u003eA: put the orange pen in the pen holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place all red pens into one pen holder. last 20 steps: 1- pick up the orange pen 2- put the orange pen in the pen holder 3- put the pen into the pen holder 4- put the pen in the pen stand 5- pick up the orange pen Q: immediate next step? \u003cPRED\u003eA: put the orange pen in the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the orange pen in the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the orange pen in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the orange pen in the pen holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the orange pen in the pen holder\n\u003c/PRED\u003e","video":"14099749658472452313.mp4"}
+{"uid":"14315821222087279061","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: place all red pens into one pen holder. Q: immediate next step? \u003cPRED\u003eA: put the orange pen in the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the orange pen in the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the orange pen in the pen holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place all red pens into one pen holder. last 20 steps: 1- pick up the orange pen 2- put the orange pen in the pen holder Q: immediate next step? \u003cPRED\u003eA: put the orange pen in the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the orange pen in the pen holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place all red pens into one pen holder. last 20 steps: 1- pick up the orange pen 2- put the orange pen in the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- put the orange pen in the pen holder 2- put the pen in the pen stand 3- pick up the orange pen 4- put the orange pen in the pen holder 5- pick up the orange pen\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the orange pen in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10399717008764393601.mp4"}
+{"uid":"5365153401830140448","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the green ball in the bottle Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"429680601878008828.mp4"}
+{"uid":"9335213076367714945","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the pen in the pen stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place all red pens into one pen holder. Q: immediate next step? \u003cPRED\u003eA: put the pen in the pen stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the pen in the pen stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the pen in the pen stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place all red pens into one pen holder. last 20 steps: 1- pick up the orange pen 2- put the orange pen in the pen holder 3- put the pen into the pen holder 4- put the pen in the pen stand 5- pick up the orange pen 6- put the orange pen in the pen holder 7- pick up the orange pen 8- put the orange pen in the pen holder Q: immediate next step? \u003cPRED\u003eA: put the pen in the pen stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pen in the pen stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place all red pens into one pen holder. last 20 steps: 1- pick up the orange pen 2- put the orange pen in the pen holder 3- put the pen into the pen holder 4- put the pen in the pen stand 5- pick up the orange pen 6- put the orange pen in the pen holder 7- pick up the orange pen 8- put the orange pen in the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- put the pen in the pen stand 2- put the pen into the pen holder 3- done\n\u003c/PRED\u003e","video":"1094856777607136864.mp4"}
+{"uid":"12005764036875897891","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"704955325407711478.mp4"}
+{"uid":"3528514307888606757","text":"\u003ctask:success:discrete:True\u003e\npick up the pen Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up the pen\n\u003c/PRED\u003e","video":"7980009427313037693.mp4"}
+{"uid":"2269857392359170737","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place all red pens into one pen holder. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the pen 2- put the pen into the pen holder 3- put the pen in the pen stand 4- pick up the orange pen 5- put the orange pen in the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the pen Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the pen\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the pen Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the pen\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place all red pens into one pen holder. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: pick up the pen\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place all red pens into one pen holder. Q: immediate next step? \u003cPRED\u003eA: pick up the pen\n\u003c/PRED\u003e","video":"3171485678311996094.mp4"}
+{"uid":"3717552244634835774","text":"\u003ctask:success:discrete:True\u003e\nput the orange pen in the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place all red pens into one pen holder. last 20 steps: 1- pick up the orange pen 2- put the orange pen in the pen holder 3- put the pen into the pen holder 4- put the pen in the pen stand 5- pick up the orange pen 6- put the orange pen in the pen holder 7- pick up the orange pen 8- put the orange pen in the pen holder 9- put the pen into the pen holder 10- put the orange pen in the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place all red pens into one pen holder. last 20 steps: 1- pick up the orange pen 2- put the orange pen in the pen holder 3- put the pen into the pen holder 4- put the pen in the pen stand 5- pick up the orange pen 6- put the orange pen in the pen holder 7- pick up the orange pen 8- put the orange pen in the pen holder 9- put the pen into the pen holder 10- put the orange pen in the pen holder Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the orange pen in the pen holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place all red pens into one pen holder. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"17862294008242690178.mp4"}
+{"uid":"9901965862640212671","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: place all red pens into one pen holder. Q: immediate next step? \u003cPRED\u003eA: put the pen into the pen holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pen into the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the pen into the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place all red pens into one pen holder. last 20 steps: 1- pick up the orange pen 2- put the orange pen in the pen holder 3- put the pen into the pen holder 4- put the pen in the pen stand Q: next 5 steps? \u003cPRED\u003eA: 1- put the pen into the pen holder 2- pick up the orange pen 3- put the orange pen in the pen holder 4- put the pen into the pen holder 5- put the pen into the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the pen into the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the pen into the pen holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place all red pens into one pen holder. last 20 steps: 1- pick up the orange pen 2- put the orange pen in the pen holder 3- put the pen into the pen holder 4- put the pen in the pen stand Q: immediate next step? \u003cPRED\u003eA: put the pen into the pen holder\n\u003c/PRED\u003e","video":"6164988128051531075.mp4"}
+{"uid":"10639822594875931241","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place all red pens into one pen holder. last 20 steps: 1- pick up the orange pen 2- put the orange pen in the pen holder 3- put the pen into the pen holder 4- put the pen in the pen stand 5- pick up the orange pen 6- put the orange pen in the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the orange pen 2- put the orange pen in the pen holder 3- put the pen into the pen holder 4- put the pen into the pen holder 5- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place all red pens into one pen holder. Q: immediate next step? \u003cPRED\u003eA: pick up the orange pen\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the orange pen Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place all red pens into one pen holder. last 20 steps: 1- pick up the orange pen 2- put the orange pen in the pen holder 3- put the pen into the pen holder 4- put the pen in the pen stand 5- pick up the orange pen 6- put the orange pen in the pen holder Q: immediate next step? \u003cPRED\u003eA: pick up the orange pen\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the orange pen Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the orange pen\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the orange pen\n\u003c/PRED\u003e","video":"14886595222998190336.mp4"}
+{"uid":"3695041121668020123","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: place all red pens into one pen holder. Q: immediate next step? \u003cPRED\u003eA: put the pen into the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the pen into the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place all red pens into one pen holder. last 20 steps: 1- pick up the orange pen 2- put the orange pen in the pen holder 3- put the pen into the pen holder 4- put the pen in the pen stand 5- pick up the orange pen 6- put the orange pen in the pen holder 7- pick up the orange pen 8- put the orange pen in the pen holder 9- put the pen into the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- put the pen into the pen holder 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the pen into the pen holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pen into the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the pen into the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place all red pens into one pen holder. last 20 steps: 1- pick up the orange pen 2- put the orange pen in the pen holder 3- put the pen into the pen holder 4- put the pen in the pen stand 5- pick up the orange pen 6- put the orange pen in the pen holder 7- pick up the orange pen 8- put the orange pen in the pen holder 9- put the pen into the pen holder Q: immediate next step? \u003cPRED\u003eA: put the pen into the pen holder\n\u003c/PRED\u003e","video":"8894348810036259992.mp4"}
+{"uid":"9330914505708735910","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop duster into the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14943065844696633253.mp4"}
+{"uid":"10558327068358604247","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place all red pens into one pen holder. last 20 steps: 1- pick up the orange pen 2- put the orange pen in the pen holder 3- put the pen into the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- put the pen in the pen stand 2- pick up the orange pen 3- put the orange pen in the pen holder 4- pick up the orange pen 5- put the orange pen in the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the pen in the pen stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the pen in the pen stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pen in the pen stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place all red pens into one pen holder. Q: immediate next step? \u003cPRED\u003eA: put the pen in the pen stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place all red pens into one pen holder. last 20 steps: 1- pick up the orange pen 2- put the orange pen in the pen holder 3- put the pen into the pen holder Q: immediate next step? \u003cPRED\u003eA: put the pen in the pen stand\n\u003c/PRED\u003e","video":"11215759292706288069.mp4"}
+{"uid":"2612688434495788391","text":"\u003ctask:success:discrete:True\u003e\npick up the pen Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up the pen\n\u003c/PRED\u003e","video":"2010814368031736486.mp4"}
+{"uid":"3786531606942869347","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the orange pen in the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the orange pen in the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8163154351617824539.mp4"}
+{"uid":"15313677129317361128","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the pen\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place all red pens into one pen holder. Q: immediate next step? \u003cPRED\u003eA: pick up the pen\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place all red pens into one pen holder. last 20 steps: 1- pick up the orange pen 2- put the orange pen in the pen holder 3- put the pen into the pen holder 4- put the pen in the pen stand 5- pick up the orange pen 6- put the orange pen in the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the pen 2- put the pen into the pen holder 3- put the pen into the pen holder 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the pen Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the pen\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the pen Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place all red pens into one pen holder. last 20 steps: 1- pick up the orange pen 2- put the orange pen in the pen holder 3- put the pen into the pen holder 4- put the pen in the pen stand 5- pick up the orange pen 6- put the orange pen in the pen holder Q: immediate next step? \u003cPRED\u003eA: pick up the pen\n\u003c/PRED\u003e","video":"2446646979725259454.mp4"}
+{"uid":"3359023970175357065","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput candy on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10659465462056872423.mp4"}
+{"uid":"15496191877096097216","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the pen in the pen stand\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the pen in the pen stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15247933340599885468.mp4"}
+{"uid":"14873620925669569734","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: place all red pens into one pen holder. Q: immediate next step? \u003cPRED\u003eA: put the orange pen in the pen holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the orange pen in the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the orange pen in the pen holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place all red pens into one pen holder. last 20 steps: 1- pick up the orange pen 2- put the orange pen in the pen holder 3- put the pen into the pen holder 4- put the pen in the pen stand 5- pick up the orange pen 6- put the orange pen in the pen holder 7- pick up the orange pen 8- put the orange pen in the pen holder 9- put the pen into the pen holder Q: immediate next step? \u003cPRED\u003eA: put the orange pen in the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the orange pen in the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the orange pen in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place all red pens into one pen holder. last 20 steps: 1- pick up the orange pen 2- put the orange pen in the pen holder 3- put the pen into the pen holder 4- put the pen in the pen stand 5- pick up the orange pen 6- put the orange pen in the pen holder 7- pick up the orange pen 8- put the orange pen in the pen holder 9- put the pen into the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- put the orange pen in the pen holder 2- done\n\u003c/PRED\u003e","video":"8300601605660959251.mp4"}
+{"uid":"4369752034671972519","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the pen in the pen stand\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the pen in the pen stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1237993744014721962.mp4"}
+{"uid":"14875182239669669407","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput candy in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5866978230591103395.mp4"}
+{"uid":"17000355704225387881","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up the blue object from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7897816617212424863.mp4"}
+{"uid":"3938804183629011642","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nStack the packets Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2827009662228963056.mp4"}
+{"uid":"9728297541232670391","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the orange on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3971780887491589713.mp4"}
+{"uid":"4054647085146148302","text":"\u003ctask:success:discrete:True\u003e\nput the pen into the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the pen into the pen holder\n\u003c/PRED\u003e","video":"16734409934823246579.mp4"}
+{"uid":"295097405275205084","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the orange pen Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place all red pens into one pen holder. Q: immediate next step? \u003cPRED\u003eA: pick up the orange pen\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the orange pen\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the orange pen\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place all red pens into one pen holder. last 20 steps: 1- pick up the orange pen 2- put the orange pen in the pen holder 3- put the pen into the pen holder 4- put the pen in the pen stand Q: immediate next step? \u003cPRED\u003eA: pick up the orange pen\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place all red pens into one pen holder. last 20 steps: 1- pick up the orange pen 2- put the orange pen in the pen holder 3- put the pen into the pen holder 4- put the pen in the pen stand Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the orange pen 2- put the orange pen in the pen holder 3- pick up the orange pen 4- put the orange pen in the pen holder 5- put the pen into the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the orange pen Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10476681382138886703.mp4"}
+{"uid":"9130846381092318913","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput orange in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17291093795677735769.mp4"}
+{"uid":"13496266686202914543","text":"\u003ctask:success:discrete:False\u003e\nput the pen in the pen stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the pen in the pen stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the pen in the pen stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place all red pens into one pen holder. Q: immediate next step? \u003cPRED\u003eA: put the pen in the pen stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pen in the pen stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place all red pens into one pen holder. last 20 steps: 1- pick up the orange pen 2- put the orange pen in the pen holder 3- put the pen into the pen holder 4- put the pen in the pen stand 5- pick up the orange pen Q: next 5 steps? \u003cPRED\u003eA: 1- put the pen in the pen stand 2- pick up the orange pen 3- put the orange pen in the pen holder 4- put the pen into the pen holder 5- put the pen into the pen holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place all red pens into one pen holder. last 20 steps: 1- pick up the orange pen 2- put the orange pen in the pen holder 3- put the pen into the pen holder 4- put the pen in the pen stand 5- pick up the orange pen Q: immediate next step? \u003cPRED\u003eA: put the pen in the pen stand\n\u003c/PRED\u003e","video":"5368847533893010267.mp4"}
+{"uid":"5940354209992613561","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the pen in the pen stand\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the pen in the pen stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18141625404960524408.mp4"}
+{"uid":"503615305767177420","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up the pen\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick up the pen Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6378335987498974339.mp4"}
+{"uid":"8281681461104561095","text":"\u003ctask:success:discrete:True\u003e\nput the orange pen in the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the orange pen in the pen holder\n\u003c/PRED\u003e","video":"16206533518198255292.mp4"}
+{"uid":"4824646942942213961","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the cup at bottom left of the green cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16203728455020517959.mp4"}
+{"uid":"16573244135019481983","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace strawberry on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11126515309515428023.mp4"}
+{"uid":"18307563660845617914","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the orange pen in the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the orange pen in the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13599590696223061221.mp4"}
+{"uid":"14917805403281503019","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up the packet Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7191251668432798112.mp4"}
+{"uid":"2967361568888050957","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the pen into the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the pen into the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5213393564536559322.mp4"}
+{"uid":"3155907799851071724","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the orange pen in the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the orange pen in the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15401240294467522938.mp4"}
+{"uid":"16857047547967195323","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up the orange pen\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick up the orange pen Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12479772915311858220.mp4"}
+{"uid":"5622974786851052882","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the packet in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12985099877159585752.mp4"}
+{"uid":"17986188950119727877","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the orange pen in the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the orange pen in the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the orange pen in the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place all red pens into one pen holder. Q: immediate next step? \u003cPRED\u003eA: put the orange pen in the pen holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place all red pens into one pen holder. last 20 steps: 1- pick up the orange pen Q: immediate next step? \u003cPRED\u003eA: put the orange pen in the pen holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place all red pens into one pen holder. last 20 steps: 1- pick up the orange pen Q: next 5 steps? \u003cPRED\u003eA: 1- put the orange pen in the pen holder 2- put the pen into the pen holder 3- put the pen in the pen stand 4- pick up the orange pen 5- put the orange pen in the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the orange pen in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9084296253485149083.mp4"}
+{"uid":"5984059884031486775","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput pistachio into the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16595962009168789476.mp4"}
+{"uid":"14628541177619022643","text":"\u003ctask:success:discrete:False\u003e\npick up the pen Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the pen\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the pen\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place all red pens into one pen holder. last 20 steps: 1- pick up the orange pen 2- put the orange pen in the pen holder 3- put the pen into the pen holder 4- put the pen in the pen stand Q: immediate next step? \u003cPRED\u003eA: pick up the pen\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place all red pens into one pen holder. Q: immediate next step? \u003cPRED\u003eA: pick up the pen\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place all red pens into one pen holder. last 20 steps: 1- pick up the orange pen 2- put the orange pen in the pen holder 3- put the pen into the pen holder 4- put the pen in the pen stand Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the pen 2- pick up the orange pen 3- put the orange pen in the pen holder 4- put the pen into the pen holder 5- put the pen into the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the pen Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15434557782746241558.mp4"}
+{"uid":"917377739868362694","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput cookie on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14808696183780331606.mp4"}
+{"uid":"10803329710897179894","text":"\u003ctask:success:discrete:True\u003e\npick up the orange pen Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up the orange pen\n\u003c/PRED\u003e","video":"8128476954764660105.mp4"}
+{"uid":"10370854775159499986","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the pen in the pen stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place all red pens into one pen holder. last 20 steps: 1- pick up the orange pen 2- put the orange pen in the pen holder 3- put the pen into the pen holder 4- put the pen in the pen stand 5- pick up the orange pen 6- put the orange pen in the pen holder 7- pick up the orange pen Q: next 5 steps? \u003cPRED\u003eA: 1- put the pen in the pen stand 2- put the pen into the pen holder 3- put the pen into the pen holder 4- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pen in the pen stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the pen in the pen stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place all red pens into one pen holder. last 20 steps: 1- pick up the orange pen 2- put the orange pen in the pen holder 3- put the pen into the pen holder 4- put the pen in the pen stand 5- pick up the orange pen 6- put the orange pen in the pen holder 7- pick up the orange pen Q: immediate next step? \u003cPRED\u003eA: put the pen in the pen stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the pen in the pen stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place all red pens into one pen holder. Q: immediate next step? \u003cPRED\u003eA: put the pen in the pen stand\n\u003c/PRED\u003e","video":"206501225623088846.mp4"}
+{"uid":"5997001136939120491","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput pink duck in white basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"807734611594215863.mp4"}
+{"uid":"18128513559202721330","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8336314084572647915.mp4"}
+{"uid":"14594249031049990771","text":"\u003ctask:success:discrete:True\u003e\nput the pen in the pen stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the pen in the pen stand\n\u003c/PRED\u003e","video":"18034924320943806705.mp4"}
+{"uid":"17698403622468568309","text":"\u003ctask:success:discrete:True\u003e\nput the orange pen in the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the orange pen in the pen holder\n\u003c/PRED\u003e","video":"8583725200221196289.mp4"}
+{"uid":"2951096462359484811","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place all red pens into one pen holder. last 20 steps: 1- pick up the orange pen 2- put the orange pen in the pen holder 3- put the pen into the pen holder 4- put the pen in the pen stand 5- pick up the orange pen 6- put the orange pen in the pen holder 7- pick up the orange pen 8- put the orange pen in the pen holder 9- put the pen into the pen holder 10- put the pen in the pen stand Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the pen in the pen stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place all red pens into one pen holder. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place all red pens into one pen holder. last 20 steps: 1- pick up the orange pen 2- put the orange pen in the pen holder 3- put the pen into the pen holder 4- put the pen in the pen stand 5- pick up the orange pen 6- put the orange pen in the pen holder 7- pick up the orange pen 8- put the orange pen in the pen holder 9- put the pen into the pen holder 10- put the pen in the pen stand Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the pen in the pen stand\n\u003c/PRED\u003e","video":"14815580393374774487.mp4"}
+{"uid":"3277549398357834611","text":"\u003ctask:success:discrete:True\u003e\nput the pen into the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the pen into the pen holder\n\u003c/PRED\u003e","video":"4868277895736766539.mp4"}
+{"uid":"9410172633610161489","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pistachio in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17578775793061482272.mp4"}
+{"uid":"1222089707515248648","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place all red pens into one pen holder. last 20 steps: 1- pick up the orange pen 2- put the orange pen in the pen holder 3- put the pen into the pen holder Q: immediate next step? \u003cPRED\u003eA: put the orange pen in the pen holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place all red pens into one pen holder. Q: immediate next step? \u003cPRED\u003eA: put the orange pen in the pen holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the orange pen in the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the orange pen in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the orange pen in the pen holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place all red pens into one pen holder. last 20 steps: 1- pick up the orange pen 2- put the orange pen in the pen holder 3- put the pen into the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- put the orange pen in the pen holder 2- pick up the orange pen 3- put the orange pen in the pen holder 4- pick up the orange pen 5- put the orange pen in the pen holder\n\u003c/PRED\u003e","video":"4064817010916944590.mp4"}
+{"uid":"14278182760419398562","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nOpen the lid of the coffee machine Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5096764452305146552.mp4"}
+{"uid":"11410989152786505270","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pen in the pen stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the pen in the pen stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place all red pens into one pen holder. last 20 steps: 1- pick up the orange pen 2- put the orange pen in the pen holder 3- put the pen into the pen holder 4- put the pen in the pen stand 5- pick up the orange pen 6- put the orange pen in the pen holder 7- pick up the orange pen 8- put the orange pen in the pen holder 9- put the pen into the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- put the pen in the pen stand 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place all red pens into one pen holder. last 20 steps: 1- pick up the orange pen 2- put the orange pen in the pen holder 3- put the pen into the pen holder 4- put the pen in the pen stand 5- pick up the orange pen 6- put the orange pen in the pen holder 7- pick up the orange pen 8- put the orange pen in the pen holder 9- put the pen into the pen holder Q: immediate next step? \u003cPRED\u003eA: put the pen in the pen stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the pen in the pen stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place all red pens into one pen holder. Q: immediate next step? \u003cPRED\u003eA: put the pen in the pen stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the pen in the pen stand\n\u003c/PRED\u003e","video":"7984858175299711764.mp4"}
+{"uid":"1890729428031250243","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place all red pens into one pen holder. last 20 steps: 1- pick up the orange pen 2- put the orange pen in the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the orange pen 2- put the pen in the pen stand 3- pick up the orange pen 4- put the orange pen in the pen holder 5- pick up the orange pen\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place all red pens into one pen holder. Q: immediate next step? \u003cPRED\u003eA: pick up the orange pen\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the orange pen\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place all red pens into one pen holder. last 20 steps: 1- pick up the orange pen 2- put the orange pen in the pen holder Q: immediate next step? \u003cPRED\u003eA: pick up the orange pen\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the orange pen Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the orange pen Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the orange pen\n\u003c/PRED\u003e","video":"9557711029314936391.mp4"}
+{"uid":"7875734303521841804","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the blue chip bag into the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10599936219874648782.mp4"}
+{"uid":"12848006683468248493","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pen into the pen holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place all red pens into one pen holder. last 20 steps: 1- pick up the orange pen 2- put the orange pen in the pen holder 3- put the pen into the pen holder 4- put the pen in the pen stand 5- pick up the orange pen 6- put the orange pen in the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- put the pen into the pen holder 2- put the pen into the pen holder 3- put the pen into the pen holder 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place all red pens into one pen holder. last 20 steps: 1- pick up the orange pen 2- put the orange pen in the pen holder 3- put the pen into the pen holder 4- put the pen in the pen stand 5- pick up the orange pen 6- put the orange pen in the pen holder Q: immediate next step? \u003cPRED\u003eA: put the pen into the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the pen into the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place all red pens into one pen holder. Q: immediate next step? \u003cPRED\u003eA: put the pen into the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the pen into the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the pen into the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18354593257894745504.mp4"}
+{"uid":"11377367810420652845","text":"\u003ctask:success:discrete:True\u003e\nput the pen in the pen stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the pen in the pen stand\n\u003c/PRED\u003e","video":"10726999233495595255.mp4"}
+{"uid":"4285117454099181110","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pen into the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the pen into the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the pen into the pen holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place all red pens into one pen holder. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put the pen into the pen holder 2- put the pen into the pen holder 3- put the pen in the pen stand 4- pick up the orange pen 5- put the orange pen in the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the pen into the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place all red pens into one pen holder. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put the pen into the pen holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place all red pens into one pen holder. Q: immediate next step? \u003cPRED\u003eA: put the pen into the pen holder\n\u003c/PRED\u003e","video":"15776499868295727131.mp4"}
+{"uid":"17857995432067535521","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the pen in the pen stand\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the pen in the pen stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"464802557172038567.mp4"}
+{"uid":"13349100827705757871","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput apple in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11235942664184739815.mp4"}
+{"uid":"990967565387210711","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the orange pen in the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the orange pen in the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10005123319208002454.mp4"}
+{"uid":"12275923358958875285","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the pen into the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the pen into the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"940543272409322806.mp4"}
+{"uid":"3510883557417548773","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the pen in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7133340998258143144.mp4"}
+{"uid":"14685969963584554897","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the packets in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3699457037663337421.mp4"}
+{"uid":"3785102859324179652","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place all red pens into one pen holder. last 20 steps: 1- pick up the orange pen Q: next 5 steps? \u003cPRED\u003eA: 1- put the pen in the pen stand 2- put the pen into the pen holder 3- put the pen in the pen stand 4- pick up the orange pen 5- put the orange pen in the pen holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pen in the pen stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the pen in the pen stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the pen in the pen stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place all red pens into one pen holder. last 20 steps: 1- pick up the orange pen Q: immediate next step? \u003cPRED\u003eA: put the pen in the pen stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place all red pens into one pen holder. Q: immediate next step? \u003cPRED\u003eA: put the pen in the pen stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the pen in the pen stand\n\u003c/PRED\u003e","video":"6391173735374894263.mp4"}
+{"uid":"8140674846492455386","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up the orange pen\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick up the orange pen Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17182004019863904488.mp4"}
+{"uid":"6145293406304291748","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the orange pen in the pen holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place all red pens into one pen holder. Q: immediate next step? \u003cPRED\u003eA: put the orange pen in the pen holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place all red pens into one pen holder. last 20 steps: 1- pick up the orange pen 2- put the orange pen in the pen holder 3- put the pen into the pen holder 4- put the pen in the pen stand 5- pick up the orange pen 6- put the orange pen in the pen holder 7- pick up the orange pen Q: immediate next step? \u003cPRED\u003eA: put the orange pen in the pen holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place all red pens into one pen holder. last 20 steps: 1- pick up the orange pen 2- put the orange pen in the pen holder 3- put the pen into the pen holder 4- put the pen in the pen stand 5- pick up the orange pen 6- put the orange pen in the pen holder 7- pick up the orange pen Q: next 5 steps? \u003cPRED\u003eA: 1- put the orange pen in the pen holder 2- put the pen into the pen holder 3- put the pen into the pen holder 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the orange pen in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the orange pen in the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the orange pen in the pen holder\n\u003c/PRED\u003e","video":"13188379374304050520.mp4"}
+{"uid":"7123244561985741450","text":"\u003ctask:success:discrete:False\u003e\nput the pen in the pen stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place all red pens into one pen holder. last 20 steps: 1- pick up the orange pen 2- put the orange pen in the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- put the pen in the pen stand 2- put the pen in the pen stand 3- pick up the orange pen 4- put the orange pen in the pen holder 5- pick up the orange pen\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place all red pens into one pen holder. last 20 steps: 1- pick up the orange pen 2- put the orange pen in the pen holder Q: immediate next step? \u003cPRED\u003eA: put the pen in the pen stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the pen in the pen stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place all red pens into one pen holder. Q: immediate next step? \u003cPRED\u003eA: put the pen in the pen stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pen in the pen stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the pen in the pen stand\n\u003c/PRED\u003e","video":"17809305317485885643.mp4"}
+{"uid":"15581792525114192379","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pista in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15610948313734475348.mp4"}
+{"uid":"14116393838985408457","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the pen into the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place all red pens into one pen holder. last 20 steps: 1- pick up the orange pen 2- put the orange pen in the pen holder 3- put the pen into the pen holder 4- put the pen in the pen stand 5- pick up the orange pen 6- put the orange pen in the pen holder 7- pick up the orange pen 8- put the orange pen in the pen holder Q: immediate next step? \u003cPRED\u003eA: put the pen into the pen holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place all red pens into one pen holder. Q: immediate next step? \u003cPRED\u003eA: put the pen into the pen holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pen into the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the pen into the pen holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place all red pens into one pen holder. last 20 steps: 1- pick up the orange pen 2- put the orange pen in the pen holder 3- put the pen into the pen holder 4- put the pen in the pen stand 5- pick up the orange pen 6- put the orange pen in the pen holder 7- pick up the orange pen 8- put the orange pen in the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- put the pen into the pen holder 2- put the pen into the pen holder 3- done\n\u003c/PRED\u003e","video":"6947644892653729984.mp4"}
+{"uid":"16672178445367460117","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the pen into the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place all red pens into one pen holder. last 20 steps: 1- pick up the orange pen 2- put the orange pen in the pen holder 3- put the pen into the pen holder Q: immediate next step? \u003cPRED\u003eA: put the pen into the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the pen into the pen holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pen into the pen holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place all red pens into one pen holder. Q: immediate next step? \u003cPRED\u003eA: put the pen into the pen holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place all red pens into one pen holder. last 20 steps: 1- pick up the orange pen 2- put the orange pen in the pen holder 3- put the pen into the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- put the pen into the pen holder 2- pick up the orange pen 3- put the orange pen in the pen holder 4- pick up the orange pen 5- put the orange pen in the pen holder\n\u003c/PRED\u003e","video":"16607427828292096814.mp4"}
+{"uid":"14837408904587029743","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4856623143340462592.mp4"}
+{"uid":"5719613535611172768","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up the orange pen\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick up the orange pen Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2782613983424942553.mp4"}
+{"uid":"6258692806211719065","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the plastic cups in stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12537951428000376332.mp4"}
+{"uid":"1258325648424955653","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the pen into the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the pen into the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12056580548660043314.mp4"}
+{"uid":"2788655101505666580","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: place all red pens into one pen holder. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place all red pens into one pen holder. last 20 steps: 1- pick up the orange pen 2- put the orange pen in the pen holder 3- put the pen into the pen holder 4- put the pen in the pen stand 5- pick up the orange pen 6- put the orange pen in the pen holder 7- pick up the orange pen 8- put the orange pen in the pen holder 9- put the pen into the pen holder 10- put the pen into the pen holder Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place all red pens into one pen holder. last 20 steps: 1- pick up the orange pen 2- put the orange pen in the pen holder 3- put the pen into the pen holder 4- put the pen in the pen stand 5- pick up the orange pen 6- put the orange pen in the pen holder 7- pick up the orange pen 8- put the orange pen in the pen holder 9- put the pen into the pen holder 10- put the pen into the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the pen into the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the pen into the pen holder\n\u003c/PRED\u003e","video":"10286680704474806956.mp4"}
+{"uid":"8510278568617207935","text":"\u003ctask:success:discrete:True\u003e\nput the pen into the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the pen into the pen holder\n\u003c/PRED\u003e","video":"3791442173152931996.mp4"}
+{"uid":"3594426728178273583","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace orange in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10830656781835412525.mp4"}
+{"uid":"9931981464246944176","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pen into the pen holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place all red pens into one pen holder. Q: immediate next step? \u003cPRED\u003eA: put the pen into the pen holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place all red pens into one pen holder. last 20 steps: 1- pick up the orange pen 2- put the orange pen in the pen holder Q: immediate next step? \u003cPRED\u003eA: put the pen into the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the pen into the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place all red pens into one pen holder. last 20 steps: 1- pick up the orange pen 2- put the orange pen in the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- put the pen into the pen holder 2- put the pen in the pen stand 3- pick up the orange pen 4- put the orange pen in the pen holder 5- pick up the orange pen\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the pen into the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the pen into the pen holder\n\u003c/PRED\u003e","video":"18045316699627159484.mp4"}
+{"uid":"12587390769036858418","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place all red pens into one pen holder. last 20 steps: 1- pick up the orange pen 2- put the orange pen in the pen holder 3- put the pen into the pen holder 4- put the pen in the pen stand 5- pick up the orange pen 6- put the orange pen in the pen holder 7- pick up the orange pen 8- put the orange pen in the pen holder Q: immediate next step? \u003cPRED\u003eA: put the orange pen in the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the orange pen in the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the orange pen in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the orange pen in the pen holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place all red pens into one pen holder. last 20 steps: 1- pick up the orange pen 2- put the orange pen in the pen holder 3- put the pen into the pen holder 4- put the pen in the pen stand 5- pick up the orange pen 6- put the orange pen in the pen holder 7- pick up the orange pen 8- put the orange pen in the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- put the orange pen in the pen holder 2- put the pen into the pen holder 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place all red pens into one pen holder. Q: immediate next step? \u003cPRED\u003eA: put the orange pen in the pen holder\n\u003c/PRED\u003e","video":"15094492141239824151.mp4"}
+{"uid":"15324393400082730633","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place pistachios in the cup\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace pistachios in the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5160347615904027637.mp4"}
+{"uid":"2074322701736404833","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: unstack a cup\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nunstack a cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8974798877330259919.mp4"}
+{"uid":"16866094585739009867","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please grab me a bowl of pistachios from the MK. last 20 steps: 1- unstack a cup 2- place the jar lid on table 3- pick the  scoop Q: next 5 steps? \u003cPRED\u003eA: 1- place pistachios in the cup 2- place pistachios in the cup 3- place pistachios in the cup 4- place the scoop in the stand 5- close the jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace pistachios in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please grab me a bowl of pistachios from the MK. last 20 steps: 1- unstack a cup 2- place the jar lid on table 3- pick the  scoop Q: immediate next step? \u003cPRED\u003eA: place pistachios in the cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please grab me a bowl of pistachios from the MK Q: immediate next step? \u003cPRED\u003eA: place pistachios in the cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace pistachios in the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place pistachios in the cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place pistachios in the cup\n\u003c/PRED\u003e","video":"51274195541159590.mp4"}
+{"uid":"4981240605986704969","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the red diary on the right stack Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9781897382231031710.mp4"}
+{"uid":"11548160204860307315","text":"\u003ctask:success:discrete:True\u003e\nplace the grapes on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take the grapes out of the bowl and place them on the table. last 20 steps: 1- place the grapes on the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take the grapes out of the bowl and place them on the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the grapes on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take the grapes out of the bowl and place them on the table. last 20 steps: 1- place the grapes on the table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"11586069559384706941.mp4"}
+{"uid":"16554543624077695001","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the jar lid on table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please grab me a bowl of pistachios from the MK Q: immediate next step? \u003cPRED\u003eA: place the jar lid on table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please grab me a bowl of pistachios from the MK. last 20 steps: 1- unstack a cup Q: immediate next step? \u003cPRED\u003eA: place the jar lid on table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the jar lid on table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the jar lid on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the jar lid on table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please grab me a bowl of pistachios from the MK. last 20 steps: 1- unstack a cup Q: next 5 steps? \u003cPRED\u003eA: 1- place the jar lid on table 2- pick the  scoop 3- place pistachios in the cup 4- place pistachios in the cup 5- place pistachios in the cup\n\u003c/PRED\u003e","video":"15144767900991135950.mp4"}
+{"uid":"9383332643472658818","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the fruit gummies into the glass jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the orange in a bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5349858484384548834.mp4"}
+{"uid":"3137601186244270276","text":"\u003ctask:success:discrete:True\u003e\nplace pistachios in the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place pistachios in the cup\n\u003c/PRED\u003e","video":"12737765369527406989.mp4"}
+{"uid":"1316846455463332013","text":"\u003ctask:success:discrete:False\u003e\npick the  scoop Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please grab me a bowl of pistachios from the MK Q: immediate next step? \u003cPRED\u003eA: pick the  scoop\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the  scoop\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please grab me a bowl of pistachios from the MK. last 20 steps: 1- unstack a cup 2- place the jar lid on table Q: next 5 steps? \u003cPRED\u003eA: 1- pick the  scoop 2- place pistachios in the cup 3- place pistachios in the cup 4- place pistachios in the cup 5- place the scoop in the stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the  scoop\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the  scoop Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the jar lid on table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please grab me a bowl of pistachios from the MK. last 20 steps: 1- unstack a cup 2- place the jar lid on table Q: immediate next step? \u003cPRED\u003eA: pick the  scoop\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the jar lid on table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"89374697255734546.mp4"}
+{"uid":"9721924051403677807","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take the grapes out of the bowl and place them on the table. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place the grapes on the table 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the grapes on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take the grapes out of the bowl and place them on the table. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place the grapes on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the grapes on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take the grapes out of the bowl and place them on the table Q: immediate next step? \u003cPRED\u003eA: place the grapes on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the grapes on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"322832257451608081.mp4"}
+{"uid":"13242675780038741395","text":"\u003ctask:success:discrete:True\u003e\nplace the grapes on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the grapes on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take the grapes out of the bowl and place them on the table. last 20 steps: 1- place the grapes on the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take the grapes out of the bowl and place them on the table. last 20 steps: 1- place the grapes on the table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take the grapes out of the bowl and place them on the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"338277823010342726.mp4"}
+{"uid":"16947662455903847032","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please grab me a bowl of pistachios from the MK. last 20 steps: 1- unstack a cup 2- place the jar lid on table 3- pick the  scoop 4- place pistachios in the cup 5- place pistachios in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- place pistachios in the cup 2- place the scoop in the stand 3- close the jar 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace pistachios in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place pistachios in the cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please grab me a bowl of pistachios from the MK Q: immediate next step? \u003cPRED\u003eA: place pistachios in the cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please grab me a bowl of pistachios from the MK. last 20 steps: 1- unstack a cup 2- place the jar lid on table 3- pick the  scoop 4- place pistachios in the cup 5- place pistachios in the cup Q: immediate next step? \u003cPRED\u003eA: place pistachios in the cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place pistachios in the cup\n\u003c/PRED\u003e","video":"8557903728560268650.mp4"}
+{"uid":"9708780577403127191","text":"\u003ctask:success:discrete:True\u003e\npick the grapes Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick the grapes\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick the grapes from the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick the grapes from the bowl\n\u003c/PRED\u003e","video":"8955619347711377796.mp4"}
+{"uid":"18189349417523385219","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the grapes on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take the grapes out of the bowl and place them on the table Q: immediate next step? \u003cPRED\u003eA: place the grapes on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the grapes on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take the grapes out of the bowl and place them on the table. last 20 steps: 1- pick the grapes Q: next 5 steps? \u003cPRED\u003eA: 1- place the grapes on the table 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the grapes on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take the grapes out of the bowl and place them on the table. last 20 steps: 1- pick the grapes Q: immediate next step? \u003cPRED\u003eA: place the grapes on the table\n\u003c/PRED\u003e","video":"9124480219501301753.mp4"}
+{"uid":"15218962150002428348","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: unstack a cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please grab me a bowl of pistachios from the MK. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- unstack a cup 2- place the jar lid on table 3- pick the  scoop 4- place pistachios in the cup 5- place pistachios in the cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: unstack a cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please grab me a bowl of pistachios from the MK Q: immediate next step? \u003cPRED\u003eA: unstack a cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nunstack a cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please grab me a bowl of pistachios from the MK. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: unstack a cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nunstack a cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18058052350078521519.mp4"}
+{"uid":"12013939861674153238","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put can in the recycle bin\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput can in the recycle bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10491135393196299964.mp4"}
+{"uid":"11740004039578305130","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the redbull can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7830413503270710392.mp4"}
+{"uid":"9948808693796578062","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the packet into the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3893330834364399461.mp4"}
+{"uid":"10898417411040727456","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: close the jar\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please grab me a bowl of pistachios from the MK. last 20 steps: 1- unstack a cup 2- place the jar lid on table 3- pick the  scoop 4- place pistachios in the cup 5- place pistachios in the cup 6- place pistachios in the cup 7- place the scoop in the stand 8- close the jar Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please grab me a bowl of pistachios from the MK Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please grab me a bowl of pistachios from the MK. last 20 steps: 1- unstack a cup 2- place the jar lid on table 3- pick the  scoop 4- place pistachios in the cup 5- place pistachios in the cup 6- place pistachios in the cup 7- place the scoop in the stand 8- close the jar Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nclose the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"467954865803598427.mp4"}
+{"uid":"5107714336651724891","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please throw away the cans from the mk table to the trash can. last 20 steps: 1- put can in the recycle bin 2- put can in the recycle bin 3- put can in the recycle bin Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please throw away the cans from the mk table to the trash can. last 20 steps: 1- put can in the recycle bin 2- put can in the recycle bin 3- put can in the recycle bin Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput can in the recycle bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put can in the recycle bin\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you please throw away the cans from the mk table to the trash can Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"13625283411312045165.mp4"}
+{"uid":"3878049945730773980","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16196237135680230805.mp4"}
+{"uid":"7092230598834102192","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop a pen in the top tray of the trolley Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4557097302579782667.mp4"}
+{"uid":"11279850886237875393","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nclose the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop pen into stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7491393117032537613.mp4"}
+{"uid":"4351099846118200936","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the scoop in the stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please grab me a bowl of pistachios from the MK. last 20 steps: 1- unstack a cup 2- place the jar lid on table 3- pick the  scoop 4- place pistachios in the cup 5- place pistachios in the cup 6- place pistachios in the cup Q: immediate next step? \u003cPRED\u003eA: place the scoop in the stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please grab me a bowl of pistachios from the MK Q: immediate next step? \u003cPRED\u003eA: place the scoop in the stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the scoop in the stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please grab me a bowl of pistachios from the MK. last 20 steps: 1- unstack a cup 2- place the jar lid on table 3- pick the  scoop 4- place pistachios in the cup 5- place pistachios in the cup 6- place pistachios in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- place the scoop in the stand 2- close the jar 3- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the scoop in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the scoop in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7812174409426932857.mp4"}
+{"uid":"4238019395702097695","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pen in the pen stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1284870501370057759.mp4"}
+{"uid":"3274691500935908051","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place pistachios in the cup\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace pistachios in the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14505779978374165995.mp4"}
+{"uid":"14051291901741577887","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: close the jar\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please grab me a bowl of pistachios from the MK. last 20 steps: 1- unstack a cup 2- place the jar lid on table 3- pick the  scoop 4- place pistachios in the cup 5- place pistachios in the cup 6- place pistachios in the cup 7- place the scoop in the stand Q: immediate next step? \u003cPRED\u003eA: close the jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please grab me a bowl of pistachios from the MK. last 20 steps: 1- unstack a cup 2- place the jar lid on table 3- pick the  scoop 4- place pistachios in the cup 5- place pistachios in the cup 6- place pistachios in the cup 7- place the scoop in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- close the jar 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nclose the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please grab me a bowl of pistachios from the MK Q: immediate next step? \u003cPRED\u003eA: close the jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: close the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nclose the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12765352586675164726.mp4"}
+{"uid":"6890048343244230838","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput candy on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9971085226648725975.mp4"}
+{"uid":"13390764168524469093","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick the bottle Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8383827968406212028.mp4"}
+{"uid":"5312357386624342713","text":"\u003ctask:success:discrete:True\u003e\npick the grapes from the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick the grapes from the bowl\n\u003c/PRED\u003e","video":"4314129021198860915.mp4"}
+{"uid":"13234563793605851381","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace tong on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10321001568896812921.mp4"}
+{"uid":"4780593969092274539","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nRelease the white pebble in the left transparent glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14385562327485753143.mp4"}
+{"uid":"11147582287812390694","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: take the grapes out of the bowl and place them on the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take the grapes out of the bowl and place them on the table. last 20 steps: 1- pick the grapes Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take the grapes out of the bowl and place them on the table. last 20 steps: 1- pick the grapes Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick the grapes Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick the grapes\n\u003c/PRED\u003e","video":"12074777990987543742.mp4"}
+{"uid":"10694481710580530866","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pen into the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"581542896471179629.mp4"}
+{"uid":"7191667253974933797","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3421775144794989146.mp4"}
+{"uid":"3607707753567622010","text":"\u003ctask:success:discrete:False\u003e\npick the grapes Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the grapes\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take the grapes out of the bowl and place them on the table. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- pick the grapes from the bowl 2- place the grapes on the table 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the grapes from the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the grapes from the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take the grapes out of the bowl and place them on the table. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: pick the grapes\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the grapes Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the grapes from the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take the grapes out of the bowl and place them on the table Q: immediate next step? \u003cPRED\u003eA: pick the grapes from the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take the grapes out of the bowl and place them on the table Q: immediate next step? \u003cPRED\u003eA: pick the grapes\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take the grapes out of the bowl and place them on the table. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- pick the grapes 2- place the grapes on the table 3- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the grapes from the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the grapes\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take the grapes out of the bowl and place them on the table. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: pick the grapes from the bowl\n\u003c/PRED\u003e","video":"9330805550188772028.mp4"}
+{"uid":"3730093460549664046","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the grapes on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take the grapes out of the bowl and place them on the table. last 20 steps: 1- pick the grapes Q: next 5 steps? \u003cPRED\u003eA: 1- place the grapes on the table 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take the grapes out of the bowl and place them on the table Q: immediate next step? \u003cPRED\u003eA: place the grapes on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the grapes on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the grapes on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take the grapes out of the bowl and place them on the table. last 20 steps: 1- pick the grapes Q: immediate next step? \u003cPRED\u003eA: place the grapes on the table\n\u003c/PRED\u003e","video":"11686100676012246104.mp4"}
+{"uid":"13356059547957731395","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop a candy in left coffee cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6535817904459683801.mp4"}
+{"uid":"12004349465541378318","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take the grapes out of the bowl and place them on the table. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place the grapes on the table 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the grapes on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the grapes on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take the grapes out of the bowl and place them on the table. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place the grapes on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the grapes on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the grapes on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take the grapes out of the bowl and place them on the table Q: immediate next step? \u003cPRED\u003eA: place the grapes on the table\n\u003c/PRED\u003e","video":"15514591876526306311.mp4"}
+{"uid":"15162676207107441608","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put can in the recycle bin\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput can in the recycle bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17094525344217593619.mp4"}
+{"uid":"8987535989827560968","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput packet in stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8099732245057046267.mp4"}
+{"uid":"7171034026885639296","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take the grapes out of the bowl and place them on the table. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place the graphics on the table 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take the grapes out of the bowl and place them on the table Q: immediate next step? \u003cPRED\u003eA: place the graphics on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the graphics on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the graphics on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the graphics on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the graphics on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take the grapes out of the bowl and place them on the table. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place the graphics on the table\n\u003c/PRED\u003e","video":"9115457904928863351.mp4"}
+{"uid":"17761605977488672941","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop candy into organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7326979969183965040.mp4"}
+{"uid":"16212558542814171824","text":"\u003ctask:success:discrete:True\u003e\nplace the graphics on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the graphics on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take the grapes out of the bowl and place them on the table. last 20 steps: 1- place the graphics on the table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take the grapes out of the bowl and place them on the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take the grapes out of the bowl and place them on the table. last 20 steps: 1- place the graphics on the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"18327813574848702308.mp4"}
+{"uid":"2803182738442444611","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the scoop in the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the scoop in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9272541000532625245.mp4"}
+{"uid":"1944074068831277408","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the Pistachio in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6582113978349902080.mp4"}
+{"uid":"5777311764261412264","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please throw away the cans from the mk table to the trash can. last 20 steps: 1- put can in the recycle bin Q: next 5 steps? \u003cPRED\u003eA: 1- put can in the recycle bin 2- put can in the recycle bin 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put can in the recycle bin\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput can in the recycle bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you please throw away the cans from the mk table to the trash can Q: immediate next step? \u003cPRED\u003eA: put can in the recycle bin\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput can in the recycle bin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put can in the recycle bin\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please throw away the cans from the mk table to the trash can. last 20 steps: 1- put can in the recycle bin Q: immediate next step? \u003cPRED\u003eA: put can in the recycle bin\n\u003c/PRED\u003e","video":"15534267889059201983.mp4"}
+{"uid":"11683928392307011903","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the marker in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6796869848299100738.mp4"}
+{"uid":"10231651906338460326","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place pistachios in the cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please grab me a bowl of pistachios from the MK. last 20 steps: 1- unstack a cup 2- place the jar lid on table 3- pick the  scoop 4- place pistachios in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- place pistachios in the cup 2- place pistachios in the cup 3- place the scoop in the stand 4- close the jar 5- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please grab me a bowl of pistachios from the MK. last 20 steps: 1- unstack a cup 2- place the jar lid on table 3- pick the  scoop 4- place pistachios in the cup Q: immediate next step? \u003cPRED\u003eA: place pistachios in the cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please grab me a bowl of pistachios from the MK Q: immediate next step? \u003cPRED\u003eA: place pistachios in the cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place pistachios in the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace pistachios in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16095153790189785135.mp4"}
+{"uid":"2422732629056948667","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\npick the grapes from the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take the grapes out of the bowl and place them on the table. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- pick the grapes from the bowl 2- place the grapes on the table 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take the grapes out of the bowl and place them on the table Q: immediate next step? \u003cPRED\u003eA: pick the grapes\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take the grapes out of the bowl and place them on the table Q: immediate next step? \u003cPRED\u003eA: pick the grapes from the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take the grapes out of the bowl and place them on the table. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- pick the grapes 2- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the grapes Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take the grapes out of the bowl and place them on the table. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: pick the grapes from the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take the grapes out of the bowl and place them on the table. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: pick the grapes\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the grapes from the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the grapes\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the grapes\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the grapes Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the grapes from the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the grapes from the bowl\n\u003c/PRED\u003e","video":"370879285615908903.mp4"}
+{"uid":"10138324316158901520","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put can in the recycle bin\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put can in the recycle bin\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you please throw away the cans from the mk table to the trash can Q: immediate next step? \u003cPRED\u003eA: put can in the recycle bin\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please throw away the cans from the mk table to the trash can. last 20 steps: 1- put can in the recycle bin 2- put can in the recycle bin Q: next 5 steps? \u003cPRED\u003eA: 1- put can in the recycle bin 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please throw away the cans from the mk table to the trash can. last 20 steps: 1- put can in the recycle bin 2- put can in the recycle bin Q: immediate next step? \u003cPRED\u003eA: put can in the recycle bin\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput can in the recycle bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput can in the recycle bin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13662767407425384728.mp4"}
+{"uid":"8788754994267157231","text":"\u003ctask:success:discrete:False\u003e\npick the graphics Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the graphics Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take the grapes out of the bowl and place them on the table. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- pick the graphics 2- place the grapes on the table 3- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the graphics\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take the grapes out of the bowl and place them on the table. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: pick the graphics\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take the grapes out of the bowl and place them on the table Q: immediate next step? \u003cPRED\u003eA: pick the graphics\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the graphics\n\u003c/PRED\u003e","video":"2920079448135863064.mp4"}
+{"uid":"16355620671143742672","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ngrab the top potted plant Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10859829517782266956.mp4"}
+{"uid":"5243150912280493847","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the oatmeal packets from the tray. last 20 steps: 1- put brown packet on the table 2- put brown packet on the table 3- put brown packet on the table 4- put brown packet on the table 5- put brown packet on the table 6- put brown packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put brown packet on the table 2- put brown packet on the table 3- put brown packet on the table 4- put brown packet on the table 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput brown packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put brown packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the oatmeal packets from the tray. last 20 steps: 1- put brown packet on the table 2- put brown packet on the table 3- put brown packet on the table 4- put brown packet on the table 5- put brown packet on the table 6- put brown packet on the table Q: immediate next step? \u003cPRED\u003eA: put brown packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put brown packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the oatmeal packets from the tray Q: immediate next step? \u003cPRED\u003eA: put brown packet on the table\n\u003c/PRED\u003e","video":"14182883719282158601.mp4"}
+{"uid":"18049750760533778771","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the silver packet in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4784685907834785872.mp4"}
+{"uid":"1443489872209378184","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: arrange the little plants on my desk left to right from shortest to tallest plant Q: immediate next step? \u003cPRED\u003eA: Place the purple flower pot towards the left side on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the purple flower pot towards the left side on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the purple flower pot towards the left side on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: arrange the little plants on my desk left to right from shortest to tallest plant. last 20 steps: 1- Arrange the pot in queue Q: immediate next step? \u003cPRED\u003eA: Place the purple flower pot towards the left side on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: arrange the little plants on my desk left to right from shortest to tallest plant. last 20 steps: 1- Arrange the pot in queue Q: next 5 steps? \u003cPRED\u003eA: 1- Place the purple flower pot towards the left side on the table 2- Arrange the pot in queue 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the purple flower pot towards the left side on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the purple flower pot towards the left side on the table\n\u003c/PRED\u003e","video":"5692002914538288949.mp4"}
+{"uid":"1732729780101470351","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put brown packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the oatmeal packets from the tray. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put brown packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put brown packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the oatmeal packets from the tray Q: immediate next step? \u003cPRED\u003eA: put brown packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput brown packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the oatmeal packets from the tray. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put brown packet on the table 2- put brown packet on the table 3- put brown packet on the table 4- put brown packet on the table 5- put brown packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput brown packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15907807413606894567.mp4"}
+{"uid":"17100729563731627024","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\narrange the packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9162870903701737139.mp4"}
+{"uid":"5982288065552510550","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move the pot to the queue\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move the pot to the queue\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove the pot to the queue Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove the pot to the queue Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: arrange the little plants on my desk left to right from shortest to tallest plant. last 20 steps: 1- Arrange the pot in queue 2- move the flower pot to the queue 3- move flower pot to the queue Q: next 5 steps? \u003cPRED\u003eA: 1- Move the pot to the queue 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: arrange the little plants on my desk left to right from shortest to tallest plant Q: immediate next step? \u003cPRED\u003eA: Move the pot to the queue\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: arrange the little plants on my desk left to right from shortest to tallest plant. last 20 steps: 1- Arrange the pot in queue 2- move the flower pot to the queue 3- move flower pot to the queue Q: immediate next step? \u003cPRED\u003eA: Move the pot to the queue\n\u003c/PRED\u003e","video":"7971412359795336425.mp4"}
+{"uid":"12364432975412140714","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the oatmeal packets from the tray Q: immediate next step? \u003cPRED\u003eA: put brown packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the oatmeal packets from the tray. last 20 steps: 1- put brown packet on the table 2- put brown packet on the table 3- put brown packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put brown packet on the table 2- put brown packet on the table 3- put brown packet on the table 4- put brown packet on the table 5- put brown packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put brown packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put brown packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the oatmeal packets from the tray. last 20 steps: 1- put brown packet on the table 2- put brown packet on the table 3- put brown packet on the table Q: immediate next step? \u003cPRED\u003eA: put brown packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput brown packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13443814416920139558.mp4"}
+{"uid":"1724949516331989950","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the pip corn packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3617446692480316099.mp4"}
+{"uid":"8978588419795777315","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the orange candies in the paper bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4561497460286455840.mp4"}
+{"uid":"48450898215722169","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: arrange the little plants on my desk left to right from shortest to tallest plant. last 20 steps: 1- Arrange the pot in queue 2- move the flower pot to the queue 3- Arrange the pot in queue Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: arrange the little plants on my desk left to right from shortest to tallest plant Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nArrange the pot in queue Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: arrange the little plants on my desk left to right from shortest to tallest plant. last 20 steps: 1- Arrange the pot in queue 2- move the flower pot to the queue 3- Arrange the pot in queue Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Arrange the pot in queue\n\u003c/PRED\u003e","video":"7694004890021138151.mp4"}
+{"uid":"4057496452772242761","text":"\u003ctask:success:discrete:True\u003e\nmove flower pot to the queue Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move flower pot to the queue\n\u003c/PRED\u003e","video":"12527910422229317640.mp4"}
+{"uid":"6405205881968972615","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput brown packet in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5829051078909328979.mp4"}
+{"uid":"1829324337172705357","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: arrange the little plants on my desk left to right from shortest to tallest plant. last 20 steps: 1- Arrange the pot in queue Q: immediate next step? \u003cPRED\u003eA: Arrange the pot in queue\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Arrange the pot in queue\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Arrange the pot in queue\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: arrange the little plants on my desk left to right from shortest to tallest plant Q: immediate next step? \u003cPRED\u003eA: Arrange the pot in queue\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: arrange the little plants on my desk left to right from shortest to tallest plant. last 20 steps: 1- Arrange the pot in queue Q: next 5 steps? \u003cPRED\u003eA: 1- Arrange the pot in queue 2- Arrange the pot in queue 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nArrange the pot in queue Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17684663148454033920.mp4"}
+{"uid":"13018254246322580306","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move the flower pot downwards\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: arrange the little plants on my desk left to right from shortest to tallest plant. last 20 steps: 1- Arrange the pot in queue 2- move the flower pot to the queue 3- move flower pot to the queue Q: immediate next step? \u003cPRED\u003eA: move the flower pot downwards\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move the flower pot downwards\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove the flower pot downwards Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: arrange the little plants on my desk left to right from shortest to tallest plant. last 20 steps: 1- Arrange the pot in queue 2- move the flower pot to the queue 3- move flower pot to the queue Q: next 5 steps? \u003cPRED\u003eA: 1- move the flower pot downwards 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: arrange the little plants on my desk left to right from shortest to tallest plant Q: immediate next step? \u003cPRED\u003eA: move the flower pot downwards\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove the flower pot downwards Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14764119536360057585.mp4"}
+{"uid":"11174932560427332030","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the oatmeal packets from the tray. last 20 steps: 1- put brown packet on the table 2- put brown packet on the table 3- put brown packet on the table 4- put brown packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put brown packet on the table 2- put brown packet on the table 3- put brown packet on the table 4- put brown packet on the table 5- put brown packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put brown packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput brown packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put brown packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the oatmeal packets from the tray. last 20 steps: 1- put brown packet on the table 2- put brown packet on the table 3- put brown packet on the table 4- put brown packet on the table Q: immediate next step? \u003cPRED\u003eA: put brown packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the oatmeal packets from the tray Q: immediate next step? \u003cPRED\u003eA: put brown packet on the table\n\u003c/PRED\u003e","video":"2694538022845169547.mp4"}
+{"uid":"13510460706083262389","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the oatmeal packets from the tray. last 20 steps: 1- put brown packet on the table Q: immediate next step? \u003cPRED\u003eA: put brown packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put brown packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put brown packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the oatmeal packets from the tray. last 20 steps: 1- put brown packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put brown packet on the table 2- put brown packet on the table 3- put brown packet on the table 4- put brown packet on the table 5- put brown packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput brown packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the oatmeal packets from the tray Q: immediate next step? \u003cPRED\u003eA: put brown packet on the table\n\u003c/PRED\u003e","video":"8946040177616531269.mp4"}
+{"uid":"8227774396446895883","text":"\u003ctask:success:discrete:False\u003e\nmove the flower pot to the queue Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move the flower pot to the queue\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move the flower pot to the queue\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove the flower pot to the queue Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: arrange the little plants on my desk left to right from shortest to tallest plant. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- move the flower pot to the queue 2- move flower pot to the queue 3- Arrange the pot in queue 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: arrange the little plants on my desk left to right from shortest to tallest plant. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: move the flower pot to the queue\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: arrange the little plants on my desk left to right from shortest to tallest plant Q: immediate next step? \u003cPRED\u003eA: move the flower pot to the queue\n\u003c/PRED\u003e","video":"18330295627871469348.mp4"}
+{"uid":"13761776670925810899","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place white flower pot on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace white flower pot on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5965205964927307120.mp4"}
+{"uid":"209111569609376973","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput brown packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put brown packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the oatmeal packets from the tray. last 20 steps: 1- put brown packet on the table 2- put brown packet on the table 3- put brown packet on the table 4- put brown packet on the table 5- put brown packet on the table 6- put brown packet on the table 7- put brown packet on the table 8- put brown packet on the table 9- put brown packet on the table Q: immediate next step? \u003cPRED\u003eA: put brown packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the oatmeal packets from the tray. last 20 steps: 1- put brown packet on the table 2- put brown packet on the table 3- put brown packet on the table 4- put brown packet on the table 5- put brown packet on the table 6- put brown packet on the table 7- put brown packet on the table 8- put brown packet on the table 9- put brown packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put brown packet on the table 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the oatmeal packets from the tray Q: immediate next step? \u003cPRED\u003eA: put brown packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put brown packet on the table\n\u003c/PRED\u003e","video":"17960818145583296547.mp4"}
+{"uid":"9166512338153558508","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: arrange the little plants on my desk left to right from shortest to tallest plant. last 20 steps: 1- Arrange the pot in queue 2- move the flower pot to the queue 3- move flower pot to the queue Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the fourth flower pot and keep it in a line 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the fourth flower pot and keep it in a line\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: arrange the little plants on my desk left to right from shortest to tallest plant Q: immediate next step? \u003cPRED\u003eA: pick up the fourth flower pot and keep it in a line\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the fourth flower pot and keep it in a line Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the fourth flower pot and keep it in a line\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the fourth flower pot and keep it in a line Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: arrange the little plants on my desk left to right from shortest to tallest plant. last 20 steps: 1- Arrange the pot in queue 2- move the flower pot to the queue 3- move flower pot to the queue Q: immediate next step? \u003cPRED\u003eA: pick up the fourth flower pot and keep it in a line\n\u003c/PRED\u003e","video":"16793202389951587797.mp4"}
+{"uid":"10731291587430863115","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack the glass upside down Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3167520382259884959.mp4"}
+{"uid":"16062876892222453248","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the oatmeal packets from the tray. last 20 steps: 1- put brown packet on the table 2- put brown packet on the table 3- put brown packet on the table 4- put brown packet on the table 5- put brown packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put brown packet on the table 2- put brown packet on the table 3- put brown packet on the table 4- put brown packet on the table 5- put brown packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the oatmeal packets from the tray Q: immediate next step? \u003cPRED\u003eA: put brown packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput brown packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put brown packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the oatmeal packets from the tray. last 20 steps: 1- put brown packet on the table 2- put brown packet on the table 3- put brown packet on the table 4- put brown packet on the table 5- put brown packet on the table Q: immediate next step? \u003cPRED\u003eA: put brown packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put brown packet on the table\n\u003c/PRED\u003e","video":"5312280548067240704.mp4"}
+{"uid":"5324463982043088721","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nunstack the plates Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9420566864390076841.mp4"}
+{"uid":"16718245690372696747","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nenter the room Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13430370720085924056.mp4"}
+{"uid":"4860977123394104536","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nclose the lid of the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4378866747816366551.mp4"}
+{"uid":"4086111650390205653","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the paper bowl on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16676429858297465466.mp4"}
+{"uid":"551704296851005389","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3114405650138111772.mp4"}
+{"uid":"5965059168401522222","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: arrange the little plants on my desk left to right from shortest to tallest plant. last 20 steps: 1- Arrange the pot in queue 2- move the flower pot to the queue 3- move flower pot to the queue Q: immediate next step? \u003cPRED\u003eA: Arrange the pot in queue\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: arrange the little plants on my desk left to right from shortest to tallest plant. last 20 steps: 1- Arrange the pot in queue 2- move the flower pot to the queue 3- move flower pot to the queue Q: next 5 steps? \u003cPRED\u003eA: 1- Arrange the pot in queue 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: arrange the little plants on my desk left to right from shortest to tallest plant Q: immediate next step? \u003cPRED\u003eA: Arrange the pot in queue\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Arrange the pot in queue\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Arrange the pot in queue\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nArrange the pot in queue Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12051600488742359227.mp4"}
+{"uid":"441618493119298883","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4377025851292351748.mp4"}
+{"uid":"4544242318078408847","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput knife in holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16647374787460376896.mp4"}
+{"uid":"3266410957611924134","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the candy on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15667833438643606272.mp4"}
+{"uid":"11667544842834693696","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nArrange the blue candy in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17425431599637866683.mp4"}
+{"uid":"10701928638011062696","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Arrange the pot in queue\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nArrange the pot in queue Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4610639189226637291.mp4"}
+{"uid":"11557012368006773146","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move flower pot to the queue\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: arrange the little plants on my desk left to right from shortest to tallest plant Q: immediate next step? \u003cPRED\u003eA: move flower pot to the queue\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove flower pot to the queue Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove flower pot to the queue Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: arrange the little plants on my desk left to right from shortest to tallest plant. last 20 steps: 1- Arrange the pot in queue 2- move the flower pot to the queue Q: immediate next step? \u003cPRED\u003eA: move flower pot to the queue\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: arrange the little plants on my desk left to right from shortest to tallest plant. last 20 steps: 1- Arrange the pot in queue 2- move the flower pot to the queue Q: next 5 steps? \u003cPRED\u003eA: 1- move flower pot to the queue 2- Arrange the pot in queue 3- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move flower pot to the queue\n\u003c/PRED\u003e","video":"15808269073864294849.mp4"}
+{"uid":"749634963945705200","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Arrange the pot in queue\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nArrange the pot in queue Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: arrange the little plants on my desk left to right from shortest to tallest plant. last 20 steps: 1- Arrange the pot in queue 2- move the flower pot to the queue 3- move flower pot to the queue 4- Arrange the pot in queue Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: arrange the little plants on my desk left to right from shortest to tallest plant. last 20 steps: 1- Arrange the pot in queue 2- move the flower pot to the queue 3- move flower pot to the queue 4- Arrange the pot in queue Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: arrange the little plants on my desk left to right from shortest to tallest plant Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"10466125780877070311.mp4"}
+{"uid":"15925591109317222219","text":"\u003ctask:success:discrete:False\u003e\nmove the flower pot to the left Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move the flower pot to the left\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove the flower pot to the left Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: arrange the little plants on my desk left to right from shortest to tallest plant. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: move the flower pot to the left\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: arrange the little plants on my desk left to right from shortest to tallest plant Q: immediate next step? \u003cPRED\u003eA: move the flower pot to the left\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move the flower pot to the left\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: arrange the little plants on my desk left to right from shortest to tallest plant. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- move the flower pot to the left 2- move the flower pot to the queue 3- move flower pot to the queue 4- Arrange the pot in queue 5- done\n\u003c/PRED\u003e","video":"10239337432926849743.mp4"}
+{"uid":"2706671158731611736","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the two glass over a glass in tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1675108568524328505.mp4"}
+{"uid":"17733411684839790064","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move the flower pot to the queue\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nmove the flower pot to the queue Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16534219827794891351.mp4"}
+{"uid":"11871898492827679932","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pistachio in the paper cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6839655888172249189.mp4"}
+{"uid":"3062919226098660375","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nkeep pistachio in cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9617357094824300079.mp4"}
+{"uid":"5437516322818420409","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput brown packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put brown packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put brown packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the oatmeal packets from the tray. last 20 steps: 1- put brown packet on the table 2- put brown packet on the table 3- put brown packet on the table 4- put brown packet on the table 5- put brown packet on the table 6- put brown packet on the table 7- put brown packet on the table Q: immediate next step? \u003cPRED\u003eA: put brown packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the oatmeal packets from the tray. last 20 steps: 1- put brown packet on the table 2- put brown packet on the table 3- put brown packet on the table 4- put brown packet on the table 5- put brown packet on the table 6- put brown packet on the table 7- put brown packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put brown packet on the table 2- put brown packet on the table 3- put brown packet on the table 4- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the oatmeal packets from the tray Q: immediate next step? \u003cPRED\u003eA: put brown packet on the table\n\u003c/PRED\u003e","video":"14382719033195134903.mp4"}
+{"uid":"8437971467252723407","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: arrange the little plants on my desk left to right from shortest to tallest plant. last 20 steps: 1- Arrange the pot in queue 2- move the flower pot to the queue Q: next 5 steps? \u003cPRED\u003eA: 1- pick the green flower pot and place it on the left side 2- Arrange the pot in queue 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: arrange the little plants on my desk left to right from shortest to tallest plant. last 20 steps: 1- Arrange the pot in queue 2- move the flower pot to the queue Q: immediate next step? \u003cPRED\u003eA: pick the green flower pot and place it on the left side\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: arrange the little plants on my desk left to right from shortest to tallest plant Q: immediate next step? \u003cPRED\u003eA: pick the green flower pot and place it on the left side\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the green flower pot and place it on the left side Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the green flower pot and place it on the left side Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the green flower pot and place it on the left side\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the green flower pot and place it on the left side\n\u003c/PRED\u003e","video":"16034272232448736793.mp4"}
+{"uid":"2800982357556424152","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput a packet in the container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10517145486861325963.mp4"}
+{"uid":"425021419137123434","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the white chip packet in a tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16120748577391328881.mp4"}
+{"uid":"12015438897562610439","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: arrange the little plants on my desk left to right from shortest to tallest plant. last 20 steps: 1- Arrange the pot in queue 2- move the flower pot to the queue 3- move flower pot to the queue Q: immediate next step? \u003cPRED\u003eA: robot picked the flower pot and placed it on middle of the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nrobot picked the flower pot and placed it on middle of the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: arrange the little plants on my desk left to right from shortest to tallest plant Q: immediate next step? \u003cPRED\u003eA: robot picked the flower pot and placed it on middle of the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nrobot picked the flower pot and placed it on middle of the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: arrange the little plants on my desk left to right from shortest to tallest plant. last 20 steps: 1- Arrange the pot in queue 2- move the flower pot to the queue 3- move flower pot to the queue Q: next 5 steps? \u003cPRED\u003eA: 1- robot picked the flower pot and placed it on middle of the table 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: robot picked the flower pot and placed it on middle of the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: robot picked the flower pot and placed it on middle of the table\n\u003c/PRED\u003e","video":"222699644479453066.mp4"}
+{"uid":"17560333935349900460","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Arrange the pot in queue\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: arrange the little plants on my desk left to right from shortest to tallest plant. last 20 steps: 1- Arrange the pot in queue 2- move the flower pot to the queue Q: immediate next step? \u003cPRED\u003eA: Arrange the pot in queue\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Arrange the pot in queue\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nArrange the pot in queue Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: arrange the little plants on my desk left to right from shortest to tallest plant Q: immediate next step? \u003cPRED\u003eA: Arrange the pot in queue\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: arrange the little plants on my desk left to right from shortest to tallest plant. last 20 steps: 1- Arrange the pot in queue 2- move the flower pot to the queue Q: next 5 steps? \u003cPRED\u003eA: 1- Arrange the pot in queue 2- done\n\u003c/PRED\u003e","video":"16056992837020255637.mp4"}
+{"uid":"14686878765354475066","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput red packet in the bucket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"718568296257765840.mp4"}
+{"uid":"6917228962951200392","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put brown packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput brown packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10035852840031676099.mp4"}
+{"uid":"14033106665418847874","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the orange in the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4029695497836568943.mp4"}
+{"uid":"13779177585595149152","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: arrange the little plants on my desk left to right from shortest to tallest plant. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Place white flower pot on the table 2- move the flower pot to the queue 3- move flower pot to the queue 4- Arrange the pot in queue 5- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place white flower pot on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: arrange the little plants on my desk left to right from shortest to tallest plant. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Place white flower pot on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: arrange the little plants on my desk left to right from shortest to tallest plant Q: immediate next step? \u003cPRED\u003eA: Place white flower pot on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place white flower pot on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace white flower pot on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace white flower pot on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12792848765046534902.mp4"}
+{"uid":"5978791680683682822","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Move the pot to the queue\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nMove the pot to the queue Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: arrange the little plants on my desk left to right from shortest to tallest plant. last 20 steps: 1- Arrange the pot in queue 2- move the flower pot to the queue 3- move flower pot to the queue 4- Move the pot to the queue Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: arrange the little plants on my desk left to right from shortest to tallest plant. last 20 steps: 1- Arrange the pot in queue 2- move the flower pot to the queue 3- move flower pot to the queue 4- Move the pot to the queue Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: arrange the little plants on my desk left to right from shortest to tallest plant Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"6820298908774798329.mp4"}
+{"uid":"15828993731291415391","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput brown packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put brown packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the oatmeal packets from the tray. last 20 steps: 1- put brown packet on the table 2- put brown packet on the table 3- put brown packet on the table 4- put brown packet on the table 5- put brown packet on the table 6- put brown packet on the table 7- put brown packet on the table 8- put brown packet on the table Q: immediate next step? \u003cPRED\u003eA: put brown packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put brown packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the oatmeal packets from the tray. last 20 steps: 1- put brown packet on the table 2- put brown packet on the table 3- put brown packet on the table 4- put brown packet on the table 5- put brown packet on the table 6- put brown packet on the table 7- put brown packet on the table 8- put brown packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put brown packet on the table 2- put brown packet on the table 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the oatmeal packets from the tray Q: immediate next step? \u003cPRED\u003eA: put brown packet on the table\n\u003c/PRED\u003e","video":"18043916997447475791.mp4"}
+{"uid":"1282116370566052857","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the oatmeal packets from the tray. last 20 steps: 1- put brown packet on the table 2- put brown packet on the table Q: immediate next step? \u003cPRED\u003eA: put brown packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput brown packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the oatmeal packets from the tray. last 20 steps: 1- put brown packet on the table 2- put brown packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put brown packet on the table 2- put brown packet on the table 3- put brown packet on the table 4- put brown packet on the table 5- put brown packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put brown packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put brown packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the oatmeal packets from the tray Q: immediate next step? \u003cPRED\u003eA: put brown packet on the table\n\u003c/PRED\u003e","video":"9398305445256267268.mp4"}
+{"uid":"13000046729403107740","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the can in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17149541401643577063.mp4"}
+{"uid":"14321708248777213481","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: lets tidy up the desk for the meeting.take the coffee cup to the compostables bin and the cup and bottle to the recycling bin Q: immediate next step? \u003cPRED\u003eA: Put the plastic bottle in recycle bin\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the plastic bottle in recycle bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the plastic bottle in recycle bin\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: lets tidy up the desk for the meeting.take the coffee cup to the compostables bin and the cup and bottle to the recycling bin. last 20 steps: 1- Pick up the coffee cup 2- put the cup in the black dustbin 3- pick up  the glass 4- Put the plastic glass in recycle bin Q: next 5 steps? \u003cPRED\u003eA: 1- Put the plastic bottle in recycle bin 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the plastic bottle in recycle bin\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: lets tidy up the desk for the meeting.take the coffee cup to the compostables bin and the cup and bottle to the recycling bin. last 20 steps: 1- Pick up the coffee cup 2- put the cup in the black dustbin 3- pick up  the glass 4- Put the plastic glass in recycle bin Q: immediate next step? \u003cPRED\u003eA: Put the plastic bottle in recycle bin\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the plastic bottle in recycle bin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11290892667608014142.mp4"}
+{"uid":"9061108454931065974","text":"\u003ctask:success:discrete:True\u003e\nclean the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: clean the table\n\u003c/PRED\u003e","video":"16383329209520859308.mp4"}
+{"uid":"3011744280769480779","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nclean the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nclean the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: clean the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please clean up and throw away the trash from the desk in the mk . last 20 steps: 1- put nut in paper bowl 2- put nut in paper bowl 3- put nut in paper bowl 4- put nut in paper bowl 5- put nut in paper bowl 6- put nut in paper bowl 7- put nut in paper bowl 8- clean the table 9- put tissue in paper bowl 10- put paper bowl in dustbin Q: next 5 steps? \u003cPRED\u003eA: 1- clean the table 2- put tissue in dustbin 3- put orange can in dustbin 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please clean up and throw away the trash from the desk in the mk . last 20 steps: 1- put nut in paper bowl 2- put nut in paper bowl 3- put nut in paper bowl 4- put nut in paper bowl 5- put nut in paper bowl 6- put nut in paper bowl 7- put nut in paper bowl 8- clean the table 9- put tissue in paper bowl 10- put paper bowl in dustbin Q: immediate next step? \u003cPRED\u003eA: clean the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you please clean up and throw away the trash from the desk in the mk Q: immediate next step? \u003cPRED\u003eA: clean the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: clean the table\n\u003c/PRED\u003e","video":"15447448189371404839.mp4"}
+{"uid":"728099718962952200","text":"\u003ctask:success:discrete:True\u003e\nPut the plastic glass in recycle bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the plastic glass in recycle bin\n\u003c/PRED\u003e","video":"6671774299687583534.mp4"}
+{"uid":"5294319450099083865","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please grab me a coconut  water and bring it to my desk. last 20 steps: 1- Open the fridge 2- Put the can on the table next room Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please grab me a coconut  water and bring it to my desk. last 20 steps: 1- Open the fridge 2- Put the can on the table next room Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please grab me a coconut  water and bring it to my desk Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the can on the table next room\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the can on the table next room Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"67994347956495978.mp4"}
+{"uid":"11008206284361938107","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick the pen from table and place it in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2153680695939527278.mp4"}
+{"uid":"324776997992399646","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop a pen in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2979782129385746869.mp4"}
+{"uid":"727531799380192489","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput black packet in bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10662033410583945178.mp4"}
+{"uid":"17625673698051511432","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put nut in paper bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please clean up and throw away the trash from the desk in the mk . last 20 steps: 1- put nut in paper bowl 2- put nut in paper bowl 3- put nut in paper bowl 4- put nut in paper bowl 5- put nut in paper bowl Q: immediate next step? \u003cPRED\u003eA: put nut in paper bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please clean up and throw away the trash from the desk in the mk . last 20 steps: 1- put nut in paper bowl 2- put nut in paper bowl 3- put nut in paper bowl 4- put nut in paper bowl 5- put nut in paper bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put nut in paper bowl 2- put nut in paper bowl 3- clean the table 4- put tissue in paper bowl 5- put paper bowl in dustbin\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put nut in paper bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you please clean up and throw away the trash from the desk in the mk Q: immediate next step? \u003cPRED\u003eA: put nut in paper bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput nut in paper bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13069188660161041075.mp4"}
+{"uid":"809122363346068302","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace fork in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13949489557772106867.mp4"}
+{"uid":"10941965900255752778","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: lets tidy up the desk for the meeting.take the coffee cup to the compostables bin and the cup and bottle to the recycling bin. last 20 steps: 1- Pick up the coffee cup 2- put the cup in the black dustbin 3- pick up  the glass 4- Put the plastic glass in recycle bin 5- Put the plastic bottle in recycle bin Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: lets tidy up the desk for the meeting.take the coffee cup to the compostables bin and the cup and bottle to the recycling bin. last 20 steps: 1- Pick up the coffee cup 2- put the cup in the black dustbin 3- pick up  the glass 4- Put the plastic glass in recycle bin 5- Put the plastic bottle in recycle bin Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the plastic bottle in recycle bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the plastic bottle in recycle bin\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: lets tidy up the desk for the meeting.take the coffee cup to the compostables bin and the cup and bottle to the recycling bin Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"5631851505285660966.mp4"}
+{"uid":"13046619179135430547","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put tissue in dustbin\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput tissue in dustbin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4833916021460133416.mp4"}
+{"uid":"5102157173719677018","text":"\u003ctask:success:discrete:True\u003e\nPut the glass into the dustbin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the glass into the dustbin\n\u003c/PRED\u003e","video":"5330821733912406492.mp4"}
+{"uid":"8907494964225951250","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13855762538473842723.mp4"}
+{"uid":"5731994534037989735","text":"\u003ctask:success:discrete:False\u003e\nPut the can on the table next room Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please grab me a coconut  water and bring it to my desk. last 20 steps: 1- Open the fridge Q: immediate next step? \u003cPRED\u003eA: Put the can on the table next room\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please grab me a coconut  water and bring it to my desk Q: immediate next step? \u003cPRED\u003eA: Put the can on the table next room\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please grab me a coconut  water and bring it to my desk. last 20 steps: 1- Open the fridge Q: next 5 steps? \u003cPRED\u003eA: 1- Put the can on the table next room 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the can on the table next room\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the can on the table next room Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the can on the table next room\n\u003c/PRED\u003e","video":"8379562665333706069.mp4"}
+{"uid":"11328535961884584037","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput blue can on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12896405403927238255.mp4"}
+{"uid":"11182426374890951340","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop candy into organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14061898852680097351.mp4"}
+{"uid":"7369954255998812036","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: lets tidy up the desk for the meeting.take the coffee cup to the compostables bin and the cup and bottle to the recycling bin Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the bottle into the dustbin\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the bottle into the dustbin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: lets tidy up the desk for the meeting.take the coffee cup to the compostables bin and the cup and bottle to the recycling bin. last 20 steps: 1- Pick up the coffee cup 2- put the cup in the black dustbin 3- pick up  the glass 4- Put the plastic glass in recycle bin 5- Put the bottle into the dustbin Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: lets tidy up the desk for the meeting.take the coffee cup to the compostables bin and the cup and bottle to the recycling bin. last 20 steps: 1- Pick up the coffee cup 2- put the cup in the black dustbin 3- pick up  the glass 4- Put the plastic glass in recycle bin 5- Put the bottle into the dustbin Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"5990888805490865389.mp4"}
+{"uid":"6607949225036282857","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the red packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13402856195207430506.mp4"}
+{"uid":"4989536671637194712","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the chocolate in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14893663936176501439.mp4"}
+{"uid":"5294403418729989632","text":"\u003ctask:success:discrete:True\u003e\nPut the plastic cup in recycle bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the plastic cup in recycle bin\n\u003c/PRED\u003e","video":"8443518006669866576.mp4"}
+{"uid":"16238070504237643105","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please clean up and throw away the trash from the desk in the mk . last 20 steps: 1- put nut in paper bowl 2- put nut in paper bowl 3- put nut in paper bowl Q: immediate next step? \u003cPRED\u003eA: put nut in paper bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please clean up and throw away the trash from the desk in the mk . last 20 steps: 1- put nut in paper bowl 2- put nut in paper bowl 3- put nut in paper bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put nut in paper bowl 2- put nut in paper bowl 3- put nut in paper bowl 4- put nut in paper bowl 5- clean the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put nut in paper bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput nut in paper bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you please clean up and throw away the trash from the desk in the mk Q: immediate next step? \u003cPRED\u003eA: put nut in paper bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put nut in paper bowl\n\u003c/PRED\u003e","video":"6708819325445341630.mp4"}
+{"uid":"16015687733232524092","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: lets tidy up the desk for the meeting.take the coffee cup to the compostables bin and the cup and bottle to the recycling bin. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the plastic cup 2- pick up  the glass 3- Put the plastic glass in recycle bin 4- pick up the bottle 5- Put the plastic bottle in recycle bin\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: lets tidy up the desk for the meeting.take the coffee cup to the compostables bin and the cup and bottle to the recycling bin. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Pick up the plastic cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: lets tidy up the desk for the meeting.take the coffee cup to the compostables bin and the cup and bottle to the recycling bin Q: immediate next step? \u003cPRED\u003eA: Pick up the plastic cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the plastic cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the plastic cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the plastic cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the plastic cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4391590901739924433.mp4"}
+{"uid":"14502299434882470648","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put nut in paper bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please clean up and throw away the trash from the desk in the mk . last 20 steps: 1- put nut in paper bowl 2- put nut in paper bowl 3- put nut in paper bowl 4- put nut in paper bowl Q: immediate next step? \u003cPRED\u003eA: put nut in paper bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put nut in paper bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you please clean up and throw away the trash from the desk in the mk Q: immediate next step? \u003cPRED\u003eA: put nut in paper bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput nut in paper bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please clean up and throw away the trash from the desk in the mk . last 20 steps: 1- put nut in paper bowl 2- put nut in paper bowl 3- put nut in paper bowl 4- put nut in paper bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put nut in paper bowl 2- put nut in paper bowl 3- put nut in paper bowl 4- clean the table 5- put tissue in paper bowl\n\u003c/PRED\u003e","video":"15274667703821348741.mp4"}
+{"uid":"17722648012965089783","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you please clean up and throw away the trash from the desk in the mk Q: immediate next step? \u003cPRED\u003eA: put nut in paper bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put nut in paper bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please clean up and throw away the trash from the desk in the mk . last 20 steps: 1- put nut in paper bowl 2- put nut in paper bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put nut in paper bowl 2- put nut in paper bowl 3- put nut in paper bowl 4- put nut in paper bowl 5- put nut in paper bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please clean up and throw away the trash from the desk in the mk . last 20 steps: 1- put nut in paper bowl 2- put nut in paper bowl Q: immediate next step? \u003cPRED\u003eA: put nut in paper bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put nut in paper bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput nut in paper bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2213602274063584646.mp4"}
+{"uid":"12231218441058727840","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the coffee cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: lets tidy up the desk for the meeting.take the coffee cup to the compostables bin and the cup and bottle to the recycling bin Q: immediate next step? \u003cPRED\u003eA: Pick up the coffee cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: lets tidy up the desk for the meeting.take the coffee cup to the compostables bin and the cup and bottle to the recycling bin. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the coffee cup 2- pick up  the glass 3- Put the plastic glass in recycle bin 4- pick up the bottle 5- Put the plastic bottle in recycle bin\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the coffee cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the coffee cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: lets tidy up the desk for the meeting.take the coffee cup to the compostables bin and the cup and bottle to the recycling bin. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Pick up the coffee cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the coffee cup\n\u003c/PRED\u003e","video":"13992309251937601832.mp4"}
+{"uid":"9777275570303121159","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9464057645065943311.mp4"}
+{"uid":"8150557335176492359","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove the pens towards right Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10683567519728950848.mp4"}
+{"uid":"16084217532212386467","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: lets tidy up the desk for the meeting.take the coffee cup to the compostables bin and the cup and bottle to the recycling bin. last 20 steps: 1- Pick up the coffee cup 2- put the cup in the black dustbin 3- pick up  the glass 4- Put the plastic glass in recycle bin 5- pick up the bottle 6- put the bottle in the blue dustbin Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the bottle in the blue dustbin\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the bottle in the blue dustbin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: lets tidy up the desk for the meeting.take the coffee cup to the compostables bin and the cup and bottle to the recycling bin Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: lets tidy up the desk for the meeting.take the coffee cup to the compostables bin and the cup and bottle to the recycling bin. last 20 steps: 1- Pick up the coffee cup 2- put the cup in the black dustbin 3- pick up  the glass 4- Put the plastic glass in recycle bin 5- pick up the bottle 6- put the bottle in the blue dustbin Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"9347275509300516465.mp4"}
+{"uid":"3131190399332055461","text":"\u003ctask:success:discrete:False\u003e\npick up  the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up  the glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: lets tidy up the desk for the meeting.take the coffee cup to the compostables bin and the cup and bottle to the recycling bin. last 20 steps: 1- Pick up the coffee cup 2- put the cup in the black dustbin Q: next 5 steps? \u003cPRED\u003eA: 1- pick up  the glass 2- pick up the bottle 3- Put the plastic bottle in recycle bin 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: lets tidy up the desk for the meeting.take the coffee cup to the compostables bin and the cup and bottle to the recycling bin. last 20 steps: 1- Pick up the coffee cup 2- put the cup in the black dustbin Q: immediate next step? \u003cPRED\u003eA: pick up  the glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: lets tidy up the desk for the meeting.take the coffee cup to the compostables bin and the cup and bottle to the recycling bin Q: immediate next step? \u003cPRED\u003eA: pick up  the glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up  the glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up  the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6373648768555215868.mp4"}
+{"uid":"13095770138175358484","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput blue can on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1524997722877654524.mp4"}
+{"uid":"15086252955906918224","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput apple in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11440309028091070710.mp4"}
+{"uid":"10559857554809523105","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up the bottle\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: lets tidy up the desk for the meeting.take the coffee cup to the compostables bin and the cup and bottle to the recycling bin. last 20 steps: 1- Pick up the coffee cup 2- put the cup in the black dustbin 3- pick up  the glass 4- Put the plastic glass in recycle bin 5- pick up the bottle Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: lets tidy up the desk for the meeting.take the coffee cup to the compostables bin and the cup and bottle to the recycling bin. last 20 steps: 1- Pick up the coffee cup 2- put the cup in the black dustbin 3- pick up  the glass 4- Put the plastic glass in recycle bin 5- pick up the bottle Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick up the bottle Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: lets tidy up the desk for the meeting.take the coffee cup to the compostables bin and the cup and bottle to the recycling bin Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"4327851220346341384.mp4"}
+{"uid":"510075644657661034","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8622628871129822293.mp4"}
+{"uid":"2651997803606089541","text":"\u003ctask:success:discrete:False\u003e\nput the glass in the blue dustbin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the glass in the blue dustbin\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the glass in the blue dustbin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: lets tidy up the desk for the meeting.take the coffee cup to the compostables bin and the cup and bottle to the recycling bin. last 20 steps: 1- Pick up the coffee cup 2- put the cup in the black dustbin 3- pick up  the glass Q: immediate next step? \u003cPRED\u003eA: put the glass in the blue dustbin\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: lets tidy up the desk for the meeting.take the coffee cup to the compostables bin and the cup and bottle to the recycling bin. last 20 steps: 1- Pick up the coffee cup 2- put the cup in the black dustbin 3- pick up  the glass Q: next 5 steps? \u003cPRED\u003eA: 1- put the glass in the blue dustbin 2- pick up the bottle 3- Put the plastic bottle in recycle bin 4- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: lets tidy up the desk for the meeting.take the coffee cup to the compostables bin and the cup and bottle to the recycling bin Q: immediate next step? \u003cPRED\u003eA: put the glass in the blue dustbin\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the glass in the blue dustbin\n\u003c/PRED\u003e","video":"11992244424777274423.mp4"}
+{"uid":"13493640196698411123","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please clean up and throw away the trash from the desk in the mk . last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put nut in paper bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put nut in paper bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please clean up and throw away the trash from the desk in the mk . last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put nut in paper bowl 2- put nut in paper bowl 3- put nut in paper bowl 4- put nut in paper bowl 5- put nut in paper bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput nut in paper bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput nut in paper bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you please clean up and throw away the trash from the desk in the mk Q: immediate next step? \u003cPRED\u003eA: put nut in paper bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put nut in paper bowl\n\u003c/PRED\u003e","video":"2533360654698527062.mp4"}
+{"uid":"14587114351464438019","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the plastic cup in recycle bin\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the plastic cup in recycle bin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: lets tidy up the desk for the meeting.take the coffee cup to the compostables bin and the cup and bottle to the recycling bin. last 20 steps: 1- Pick up the coffee cup Q: next 5 steps? \u003cPRED\u003eA: 1- Put the plastic cup in recycle bin 2- Put the plastic glass in recycle bin 3- pick up the bottle 4- Put the plastic bottle in recycle bin 5- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: lets tidy up the desk for the meeting.take the coffee cup to the compostables bin and the cup and bottle to the recycling bin. last 20 steps: 1- Pick up the coffee cup Q: immediate next step? \u003cPRED\u003eA: Put the plastic cup in recycle bin\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the plastic cup in recycle bin\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: lets tidy up the desk for the meeting.take the coffee cup to the compostables bin and the cup and bottle to the recycling bin Q: immediate next step? \u003cPRED\u003eA: Put the plastic cup in recycle bin\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the plastic cup in recycle bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11311883006037588404.mp4"}
+{"uid":"9714263001816164889","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove sticky notes in front of chair Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"597647518564216092.mp4"}
+{"uid":"5659075881300378936","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put nut in paper bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please clean up and throw away the trash from the desk in the mk . last 20 steps: 1- put nut in paper bowl Q: immediate next step? \u003cPRED\u003eA: put nut in paper bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please clean up and throw away the trash from the desk in the mk . last 20 steps: 1- put nut in paper bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put nut in paper bowl 2- put nut in paper bowl 3- put nut in paper bowl 4- put nut in paper bowl 5- put nut in paper bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put nut in paper bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput nut in paper bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you please clean up and throw away the trash from the desk in the mk Q: immediate next step? \u003cPRED\u003eA: put nut in paper bowl\n\u003c/PRED\u003e","video":"9402174672117563775.mp4"}
+{"uid":"16107071594438994440","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the sticky notes in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12288166735709135462.mp4"}
+{"uid":"11150677545125712130","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace sticky note into tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15038136177578193376.mp4"}
+{"uid":"4623250506203303600","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop it in the brown rack Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18415858121000623635.mp4"}
+{"uid":"7943709227879826020","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: lets tidy up the desk for the meeting.take the coffee cup to the compostables bin and the cup and bottle to the recycling bin. last 20 steps: 1- Pick up the coffee cup 2- put the cup in the black dustbin Q: immediate next step? \u003cPRED\u003eA: Put the glass into the dustbin\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: lets tidy up the desk for the meeting.take the coffee cup to the compostables bin and the cup and bottle to the recycling bin. last 20 steps: 1- Pick up the coffee cup 2- put the cup in the black dustbin Q: next 5 steps? \u003cPRED\u003eA: 1- Put the glass into the dustbin 2- Put the plastic bottle in recycle bin 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the glass into the dustbin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: lets tidy up the desk for the meeting.take the coffee cup to the compostables bin and the cup and bottle to the recycling bin Q: immediate next step? \u003cPRED\u003eA: Put the glass into the dustbin\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the glass into the dustbin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the glass into the dustbin\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the glass into the dustbin\n\u003c/PRED\u003e","video":"3826921558255587409.mp4"}
+{"uid":"2160941559015417033","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6957326050605904631.mp4"}
+{"uid":"10618035542054815694","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please clean up and throw away the trash from the desk in the mk . last 20 steps: 1- put nut in paper bowl 2- put nut in paper bowl 3- put nut in paper bowl 4- put nut in paper bowl 5- put nut in paper bowl 6- put nut in paper bowl 7- put nut in paper bowl 8- clean the table 9- put tissue in paper bowl 10- put paper bowl in dustbin 11- clean the table 12- put tissue in dustbin 13- put orange can in dustbin Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put orange can in dustbin\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput orange can in dustbin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please clean up and throw away the trash from the desk in the mk . last 20 steps: 1- put nut in paper bowl 2- put nut in paper bowl 3- put nut in paper bowl 4- put nut in paper bowl 5- put nut in paper bowl 6- put nut in paper bowl 7- put nut in paper bowl 8- clean the table 9- put tissue in paper bowl 10- put paper bowl in dustbin 11- clean the table 12- put tissue in dustbin 13- put orange can in dustbin Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you please clean up and throw away the trash from the desk in the mk Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"1046760803751533255.mp4"}
+{"uid":"18050349842564433572","text":"\u003ctask:success:discrete:False\u003e\nclean the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: clean the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: clean the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you please clean up and throw away the trash from the desk in the mk Q: immediate next step? \u003cPRED\u003eA: clean the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please clean up and throw away the trash from the desk in the mk . last 20 steps: 1- put nut in paper bowl 2- put nut in paper bowl 3- put nut in paper bowl 4- put nut in paper bowl 5- put nut in paper bowl 6- put nut in paper bowl 7- put nut in paper bowl Q: immediate next step? \u003cPRED\u003eA: clean the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please clean up and throw away the trash from the desk in the mk . last 20 steps: 1- put nut in paper bowl 2- put nut in paper bowl 3- put nut in paper bowl 4- put nut in paper bowl 5- put nut in paper bowl 6- put nut in paper bowl 7- put nut in paper bowl Q: next 5 steps? \u003cPRED\u003eA: 1- clean the table 2- put tissue in paper bowl 3- put paper bowl in dustbin 4- clean the table 5- put tissue in dustbin\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nclean the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"503301555985009468.mp4"}
+{"uid":"14782452917146722206","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up  the glass\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick up  the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18128573976743560971.mp4"}
+{"uid":"9974814584615116749","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Please grab me a coconut  water and bring it to my desk Q: immediate next step? \u003cPRED\u003eA: Open the fridge\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please grab me a coconut  water and bring it to my desk. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Open the fridge\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nOpen the fridge Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please grab me a coconut  water and bring it to my desk. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Open the fridge 2- Put the can on the table next room 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nOpen the fridge Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Open the fridge\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Open the fridge\n\u003c/PRED\u003e","video":"1411264795928956700.mp4"}
+{"uid":"4991669586491326208","text":"\u003ctask:success:discrete:True\u003e\nput the glass in the blue dustbin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the glass in the blue dustbin\n\u003c/PRED\u003e","video":"10871523123021609740.mp4"}
+{"uid":"15900432366673357825","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: clean the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nclean the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"618653360787704135.mp4"}
+{"uid":"6283281083325815011","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move arm up\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove arm up Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: lets tidy up the desk for the meeting.take the coffee cup to the compostables bin and the cup and bottle to the recycling bin. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: move arm up\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove arm up Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move arm up\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: lets tidy up the desk for the meeting.take the coffee cup to the compostables bin and the cup and bottle to the recycling bin Q: immediate next step? \u003cPRED\u003eA: move arm up\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: lets tidy up the desk for the meeting.take the coffee cup to the compostables bin and the cup and bottle to the recycling bin. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- move arm up 2- pick up  the glass 3- Put the plastic glass in recycle bin 4- pick up the bottle 5- Put the plastic bottle in recycle bin\n\u003c/PRED\u003e","video":"11882604208858218896.mp4"}
+{"uid":"7713868676508828019","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the bottle in the blue dustbin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the bottle in the blue dustbin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: lets tidy up the desk for the meeting.take the coffee cup to the compostables bin and the cup and bottle to the recycling bin. last 20 steps: 1- Pick up the coffee cup 2- put the cup in the black dustbin 3- pick up  the glass 4- Put the plastic glass in recycle bin 5- pick up the bottle Q: next 5 steps? \u003cPRED\u003eA: 1- put the bottle in the blue dustbin 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: lets tidy up the desk for the meeting.take the coffee cup to the compostables bin and the cup and bottle to the recycling bin Q: immediate next step? \u003cPRED\u003eA: put the bottle in the blue dustbin\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the bottle in the blue dustbin\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the bottle in the blue dustbin\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: lets tidy up the desk for the meeting.take the coffee cup to the compostables bin and the cup and bottle to the recycling bin. last 20 steps: 1- Pick up the coffee cup 2- put the cup in the black dustbin 3- pick up  the glass 4- Put the plastic glass in recycle bin 5- pick up the bottle Q: immediate next step? \u003cPRED\u003eA: put the bottle in the blue dustbin\n\u003c/PRED\u003e","video":"10150482849789194317.mp4"}
+{"uid":"11781331375682693001","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the orange in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9957879429683128267.mp4"}
+{"uid":"4081977828004239265","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please clean up and throw away the trash from the desk in the mk . last 20 steps: 1- put nut in paper bowl 2- put nut in paper bowl 3- put nut in paper bowl 4- put nut in paper bowl 5- put nut in paper bowl 6- put nut in paper bowl 7- put nut in paper bowl 8- clean the table 9- put tissue in paper bowl 10- put paper bowl in dustbin 11- clean the table Q: next 5 steps? \u003cPRED\u003eA: 1- put tissue in dustbin 2- put orange can in dustbin 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please clean up and throw away the trash from the desk in the mk . last 20 steps: 1- put nut in paper bowl 2- put nut in paper bowl 3- put nut in paper bowl 4- put nut in paper bowl 5- put nut in paper bowl 6- put nut in paper bowl 7- put nut in paper bowl 8- clean the table 9- put tissue in paper bowl 10- put paper bowl in dustbin 11- clean the table Q: immediate next step? \u003cPRED\u003eA: put tissue in dustbin\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you please clean up and throw away the trash from the desk in the mk Q: immediate next step? \u003cPRED\u003eA: put tissue in dustbin\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput tissue in dustbin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put tissue in dustbin\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put tissue in dustbin\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput tissue in dustbin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3488133175121882630.mp4"}
+{"uid":"8863024239399498416","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace fork on napkin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10662392789432014301.mp4"}
+{"uid":"9858564990625309970","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the plastic glass in recycle bin\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the plastic glass in recycle bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: lets tidy up the desk for the meeting.take the coffee cup to the compostables bin and the cup and bottle to the recycling bin Q: immediate next step? \u003cPRED\u003eA: Put the plastic glass in recycle bin\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the plastic glass in recycle bin\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the plastic glass in recycle bin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: lets tidy up the desk for the meeting.take the coffee cup to the compostables bin and the cup and bottle to the recycling bin. last 20 steps: 1- Pick up the coffee cup 2- put the cup in the black dustbin Q: next 5 steps? \u003cPRED\u003eA: 1- Put the plastic glass in recycle bin 2- pick up the bottle 3- Put the plastic bottle in recycle bin 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: lets tidy up the desk for the meeting.take the coffee cup to the compostables bin and the cup and bottle to the recycling bin. last 20 steps: 1- Pick up the coffee cup 2- put the cup in the black dustbin Q: immediate next step? \u003cPRED\u003eA: Put the plastic glass in recycle bin\n\u003c/PRED\u003e","video":"16055659975139550037.mp4"}
+{"uid":"12728453074243998856","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the pen on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4136165032044293122.mp4"}
+{"uid":"4541489122190926362","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop the coffee cup into the dustbin\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: lets tidy up the desk for the meeting.take the coffee cup to the compostables bin and the cup and bottle to the recycling bin. last 20 steps: 1- Pick up the coffee cup Q: immediate next step? \u003cPRED\u003eA: Drop the coffee cup into the dustbin\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrop the coffee cup into the dustbin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: lets tidy up the desk for the meeting.take the coffee cup to the compostables bin and the cup and bottle to the recycling bin. last 20 steps: 1- Pick up the coffee cup Q: next 5 steps? \u003cPRED\u003eA: 1- Drop the coffee cup into the dustbin 2- Put the plastic glass in recycle bin 3- pick up the bottle 4- Put the plastic bottle in recycle bin 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop the coffee cup into the dustbin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: lets tidy up the desk for the meeting.take the coffee cup to the compostables bin and the cup and bottle to the recycling bin Q: immediate next step? \u003cPRED\u003eA: Drop the coffee cup into the dustbin\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop the coffee cup into the dustbin\n\u003c/PRED\u003e","video":"4489719054646211358.mp4"}
+{"uid":"12636374034156051670","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3651360333654044786.mp4"}
+{"uid":"3411174074276868801","text":"\u003ctask:success:discrete:False\u003e\nput tissue in paper bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput tissue in paper bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put tissue in paper bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you please clean up and throw away the trash from the desk in the mk Q: immediate next step? \u003cPRED\u003eA: put tissue in paper bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please clean up and throw away the trash from the desk in the mk . last 20 steps: 1- put nut in paper bowl 2- put nut in paper bowl 3- put nut in paper bowl 4- put nut in paper bowl 5- put nut in paper bowl 6- put nut in paper bowl 7- put nut in paper bowl 8- clean the table Q: immediate next step? \u003cPRED\u003eA: put tissue in paper bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please clean up and throw away the trash from the desk in the mk . last 20 steps: 1- put nut in paper bowl 2- put nut in paper bowl 3- put nut in paper bowl 4- put nut in paper bowl 5- put nut in paper bowl 6- put nut in paper bowl 7- put nut in paper bowl 8- clean the table Q: next 5 steps? \u003cPRED\u003eA: 1- put tissue in paper bowl 2- put paper bowl in dustbin 3- clean the table 4- put tissue in dustbin 5- put orange can in dustbin\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put tissue in paper bowl\n\u003c/PRED\u003e","video":"9863526560328869478.mp4"}
+{"uid":"2495041814282988622","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the tissue on able Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17438731784894392772.mp4"}
+{"uid":"16467848735394598446","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput paper bowl in dustbin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put paper bowl in dustbin\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please clean up and throw away the trash from the desk in the mk . last 20 steps: 1- put nut in paper bowl 2- put nut in paper bowl 3- put nut in paper bowl 4- put nut in paper bowl 5- put nut in paper bowl 6- put nut in paper bowl 7- put nut in paper bowl 8- clean the table 9- put tissue in paper bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put paper bowl in dustbin 2- clean the table 3- put tissue in dustbin 4- put orange can in dustbin 5- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you please clean up and throw away the trash from the desk in the mk Q: immediate next step? \u003cPRED\u003eA: put paper bowl in dustbin\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput paper bowl in dustbin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please clean up and throw away the trash from the desk in the mk . last 20 steps: 1- put nut in paper bowl 2- put nut in paper bowl 3- put nut in paper bowl 4- put nut in paper bowl 5- put nut in paper bowl 6- put nut in paper bowl 7- put nut in paper bowl 8- clean the table 9- put tissue in paper bowl Q: immediate next step? \u003cPRED\u003eA: put paper bowl in dustbin\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put paper bowl in dustbin\n\u003c/PRED\u003e","video":"1111335157059229825.mp4"}
+{"uid":"5484030553477031755","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put nut in paper bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput nut in paper bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you please clean up and throw away the trash from the desk in the mk Q: immediate next step? \u003cPRED\u003eA: put nut in paper bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put nut in paper bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please clean up and throw away the trash from the desk in the mk . last 20 steps: 1- put nut in paper bowl 2- put nut in paper bowl 3- put nut in paper bowl 4- put nut in paper bowl 5- put nut in paper bowl 6- put nut in paper bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put nut in paper bowl 2- clean the table 3- put tissue in paper bowl 4- put paper bowl in dustbin 5- clean the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please clean up and throw away the trash from the desk in the mk . last 20 steps: 1- put nut in paper bowl 2- put nut in paper bowl 3- put nut in paper bowl 4- put nut in paper bowl 5- put nut in paper bowl 6- put nut in paper bowl Q: immediate next step? \u003cPRED\u003eA: put nut in paper bowl\n\u003c/PRED\u003e","video":"4210580000460786966.mp4"}
+{"uid":"6841334922690490925","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the orange Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4327120594089163931.mp4"}
+{"uid":"8963768037077013648","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the tissues on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11005830861429428354.mp4"}
+{"uid":"12925892421244091844","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please clean up and throw away the trash from the desk in the mk . last 20 steps: 1- put nut in paper bowl 2- put nut in paper bowl 3- put nut in paper bowl 4- put nut in paper bowl 5- put nut in paper bowl 6- put nut in paper bowl 7- put nut in paper bowl 8- clean the table 9- put tissue in paper bowl 10- put paper bowl in dustbin 11- clean the table 12- put tissue in dustbin Q: next 5 steps? \u003cPRED\u003eA: 1- put orange can in dustbin 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you please clean up and throw away the trash from the desk in the mk Q: immediate next step? \u003cPRED\u003eA: put orange can in dustbin\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put orange can in dustbin\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput orange can in dustbin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put orange can in dustbin\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput orange can in dustbin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please clean up and throw away the trash from the desk in the mk . last 20 steps: 1- put nut in paper bowl 2- put nut in paper bowl 3- put nut in paper bowl 4- put nut in paper bowl 5- put nut in paper bowl 6- put nut in paper bowl 7- put nut in paper bowl 8- clean the table 9- put tissue in paper bowl 10- put paper bowl in dustbin 11- clean the table 12- put tissue in dustbin Q: immediate next step? \u003cPRED\u003eA: put orange can in dustbin\n\u003c/PRED\u003e","video":"4406559461673749178.mp4"}
+{"uid":"4912570096429999127","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the pista into the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11247340226993287252.mp4"}
+{"uid":"9523687908308089427","text":"\u003ctask:success:discrete:True\u003e\nDrop the coffee cup into the dustbin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Drop the coffee cup into the dustbin\n\u003c/PRED\u003e","video":"86920886055926087.mp4"}
+{"uid":"16531515970918016990","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput sticky note in tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7171638456272357904.mp4"}
+{"uid":"7372613072687613752","text":"\u003ctask:success:discrete:True\u003e\nPick up the coffee cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Pick up the coffee cup\n\u003c/PRED\u003e","video":"7046875952213548014.mp4"}
+{"uid":"10615986647087280100","text":"\u003ctask:success:discrete:True\u003e\nput paper bowl in dustbin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put paper bowl in dustbin\n\u003c/PRED\u003e","video":"15391867271684259225.mp4"}
+{"uid":"14167420026511921248","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: lets tidy up the desk for the meeting.take the coffee cup to the compostables bin and the cup and bottle to the recycling bin. last 20 steps: 1- Pick up the coffee cup 2- put the cup in the black dustbin 3- pick up  the glass 4- Put the plastic glass in recycle bin Q: immediate next step? \u003cPRED\u003eA: Put the bottle into the dustbin\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: lets tidy up the desk for the meeting.take the coffee cup to the compostables bin and the cup and bottle to the recycling bin Q: immediate next step? \u003cPRED\u003eA: Put the bottle into the dustbin\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the bottle into the dustbin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the bottle into the dustbin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: lets tidy up the desk for the meeting.take the coffee cup to the compostables bin and the cup and bottle to the recycling bin. last 20 steps: 1- Pick up the coffee cup 2- put the cup in the black dustbin 3- pick up  the glass 4- Put the plastic glass in recycle bin Q: next 5 steps? \u003cPRED\u003eA: 1- Put the bottle into the dustbin 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the bottle into the dustbin\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the bottle into the dustbin\n\u003c/PRED\u003e","video":"16269643403224453390.mp4"}
+{"uid":"11587851326316462926","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the bottle\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: lets tidy up the desk for the meeting.take the coffee cup to the compostables bin and the cup and bottle to the recycling bin Q: immediate next step? \u003cPRED\u003eA: pick up the bottle\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the bottle Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the bottle\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: lets tidy up the desk for the meeting.take the coffee cup to the compostables bin and the cup and bottle to the recycling bin. last 20 steps: 1- Pick up the coffee cup 2- put the cup in the black dustbin 3- pick up  the glass 4- Put the plastic glass in recycle bin Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the bottle 2- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the bottle Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: lets tidy up the desk for the meeting.take the coffee cup to the compostables bin and the cup and bottle to the recycling bin. last 20 steps: 1- Pick up the coffee cup 2- put the cup in the black dustbin 3- pick up  the glass 4- Put the plastic glass in recycle bin Q: immediate next step? \u003cPRED\u003eA: pick up the bottle\n\u003c/PRED\u003e","video":"562607576374556403.mp4"}
+{"uid":"5342903458594287784","text":"\u003ctask:success:discrete:True\u003e\nput the cup in the black dustbin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the cup in the black dustbin\n\u003c/PRED\u003e","video":"16315559322139149024.mp4"}
+{"uid":"16287652091364019787","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17617091950389280189.mp4"}
+{"uid":"6114878606728378799","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the cup in the black dustbin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the cup in the black dustbin\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the cup in the black dustbin\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: lets tidy up the desk for the meeting.take the coffee cup to the compostables bin and the cup and bottle to the recycling bin. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put the cup in the black dustbin\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the cup in the black dustbin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: lets tidy up the desk for the meeting.take the coffee cup to the compostables bin and the cup and bottle to the recycling bin Q: immediate next step? \u003cPRED\u003eA: put the cup in the black dustbin\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: lets tidy up the desk for the meeting.take the coffee cup to the compostables bin and the cup and bottle to the recycling bin. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put the cup in the black dustbin 2- pick up  the glass 3- Put the plastic glass in recycle bin 4- pick up the bottle 5- Put the plastic bottle in recycle bin\n\u003c/PRED\u003e","video":"4714175424485606739.mp4"}
+{"uid":"9177785888614662534","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you prepare a fruit bowl?. last 20 steps: 1- Put the banana in bowl 2- Put the banana in bowl 3- Put the banana in bowl 4- Put the orange in bowl 5- Put the orange in bowl 6- Put the orange in bowl 7- Put the orange in bowl 8- Put the orange in bowl Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you prepare a fruit bowl?. last 20 steps: 1- Put the banana in bowl 2- Put the banana in bowl 3- Put the banana in bowl 4- Put the orange in bowl 5- Put the orange in bowl 6- Put the orange in bowl 7- Put the orange in bowl 8- Put the orange in bowl Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the orange in bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you prepare a fruit bowl? Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the orange in bowl\n\u003c/PRED\u003e","video":"13479000083095623646.mp4"}
+{"uid":"15218079971041386683","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nGrasp the green indoor plant Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11002276776602447789.mp4"}
+{"uid":"18258781251860344254","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the packet into the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5909050055996463784.mp4"}
+{"uid":"17292002602253519670","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput bottle on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8607173879450369241.mp4"}
+{"uid":"3494547196978017747","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the orange packet in the paper glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11356384671278554738.mp4"}
+{"uid":"9394078326436719292","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: The meeting has ended, please push in all the chairs and return all the pens to the service cart. last 20 steps: 1- arrange the chair 2- arrange the chair 3- arrange the chair 4- arrange the chair 5- arrange the chair 6- arrange the chair 7- arrange the chair 8- arrange the chair 9- place the pen on the table 10- place the pen on the table 11- place the pen on the table 12- place the pen on the table Q: immediate next step? \u003cPRED\u003eA: place the pen in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the pen in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: The meeting has ended, please push in all the chairs and return all the pens to the service cart Q: immediate next step? \u003cPRED\u003eA: place the pen in the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the pen in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the pen in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the pen on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: The meeting has ended, please push in all the chairs and return all the pens to the service cart. last 20 steps: 1- arrange the chair 2- arrange the chair 3- arrange the chair 4- arrange the chair 5- arrange the chair 6- arrange the chair 7- arrange the chair 8- arrange the chair 9- place the pen on the table 10- place the pen on the table 11- place the pen on the table 12- place the pen on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the pen in the holder 2- move the cart to the table 3- place the pen in the holder 4- place the pen in the holder 5- place the pen in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the pen on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1350881582547321584.mp4"}
+{"uid":"16125810044878886247","text":"\u003ctask:success:discrete:False\u003e\nplace the pen in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: The meeting has ended, please push in all the chairs and return all the pens to the service cart. last 20 steps: 1- arrange the chair 2- arrange the chair 3- arrange the chair 4- arrange the chair 5- arrange the chair 6- arrange the chair 7- arrange the chair 8- arrange the chair 9- place the pen on the table 10- place the pen on the table 11- place the pen on the table 12- place the pen on the table 13- place the pen in the holder 14- move the cart to the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the pen in the holder 2- place the pen in the holder 3- place the pen in the holder 4- place the pen in the holder 5- place the pen in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: The meeting has ended, please push in all the chairs and return all the pens to the service cart Q: immediate next step? \u003cPRED\u003eA: place the pen in the holder\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move the cart to the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: The meeting has ended, please push in all the chairs and return all the pens to the service cart. last 20 steps: 1- arrange the chair 2- arrange the chair 3- arrange the chair 4- arrange the chair 5- arrange the chair 6- arrange the chair 7- arrange the chair 8- arrange the chair 9- place the pen on the table 10- place the pen on the table 11- place the pen on the table 12- place the pen on the table 13- place the pen in the holder 14- move the cart to the table Q: immediate next step? \u003cPRED\u003eA: place the pen in the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the pen in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nmove the cart to the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the pen in the holder\n\u003c/PRED\u003e","video":"2288923482015342622.mp4"}
+{"uid":"6679753828019872046","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the orange in bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the orange in bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the orange in bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you prepare a fruit bowl? Q: immediate next step? \u003cPRED\u003eA: Put the orange in bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you prepare a fruit bowl?. last 20 steps: 1- Put the banana in bowl 2- Put the banana in bowl 3- Put the banana in bowl 4- Put the orange in bowl 5- Put the orange in bowl Q: immediate next step? \u003cPRED\u003eA: Put the orange in bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the orange in bowl\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the orange in bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you prepare a fruit bowl?. last 20 steps: 1- Put the banana in bowl 2- Put the banana in bowl 3- Put the banana in bowl 4- Put the orange in bowl 5- Put the orange in bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put the orange in bowl 2- Put the orange in bowl 3- Put the orange in bowl 4- done\n\u003c/PRED\u003e","video":"9724877199418196550.mp4"}
+{"uid":"16236972471979243991","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: The meeting has ended, please push in all the chairs and return all the pens to the service cart. last 20 steps: 1- arrange the chair 2- arrange the chair 3- arrange the chair Q: next 5 steps? \u003cPRED\u003eA: 1- arrange the chair 2- arrange the chair 3- arrange the chair 4- arrange the chair 5- arrange the chair\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: The meeting has ended, please push in all the chairs and return all the pens to the service cart Q: immediate next step? \u003cPRED\u003eA: arrange the chair\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: arrange the chair\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\narrange the chair Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: arrange the chair\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: The meeting has ended, please push in all the chairs and return all the pens to the service cart. last 20 steps: 1- arrange the chair 2- arrange the chair 3- arrange the chair Q: immediate next step? \u003cPRED\u003eA: arrange the chair\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: arrange the chair\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\narrange the chair Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1223351402226769116.mp4"}
+{"uid":"7494043174212376299","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput cup on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12498001599721411247.mp4"}
+{"uid":"7917693822699517027","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the pen on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: The meeting has ended, please push in all the chairs and return all the pens to the service cart. last 20 steps: 1- arrange the chair 2- arrange the chair 3- arrange the chair 4- arrange the chair 5- arrange the chair 6- arrange the chair 7- arrange the chair 8- arrange the chair 9- place the pen on the table 10- place the pen on the table Q: immediate next step? \u003cPRED\u003eA: place the pen on the table\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the pen on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: The meeting has ended, please push in all the chairs and return all the pens to the service cart. last 20 steps: 1- arrange the chair 2- arrange the chair 3- arrange the chair 4- arrange the chair 5- arrange the chair 6- arrange the chair 7- arrange the chair 8- arrange the chair 9- place the pen on the table 10- place the pen on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the pen on the table 2- place the pen on the table 3- place the pen in the holder 4- move the cart to the table 5- place the pen in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the pen on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the pen on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the pen on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: The meeting has ended, please push in all the chairs and return all the pens to the service cart Q: immediate next step? \u003cPRED\u003eA: place the pen on the table\n\u003c/PRED\u003e","video":"10801194686169193251.mp4"}
+{"uid":"12224959687702528732","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput candy in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6164222197646387825.mp4"}
+{"uid":"18424262328071337440","text":"\u003ctask:success:discrete:True\u003e\narrange the chair Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: arrange the chair\n\u003c/PRED\u003e","video":"379386823968030890.mp4"}
+{"uid":"7969696374575874287","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDraw zig zag lines on the paper Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11856183877964118618.mp4"}
+{"uid":"7996370473207398438","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the pen in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: The meeting has ended, please push in all the chairs and return all the pens to the service cart. last 20 steps: 1- arrange the chair 2- arrange the chair 3- arrange the chair 4- arrange the chair 5- arrange the chair 6- arrange the chair 7- arrange the chair 8- arrange the chair 9- place the pen on the table 10- place the pen on the table 11- place the pen on the table 12- place the pen on the table 13- place the pen in the holder 14- move the cart to the table 15- place the pen in the holder 16- place the pen in the holder Q: immediate next step? \u003cPRED\u003eA: place the pen in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: The meeting has ended, please push in all the chairs and return all the pens to the service cart Q: immediate next step? \u003cPRED\u003eA: place the pen in the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the pen in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: The meeting has ended, please push in all the chairs and return all the pens to the service cart. last 20 steps: 1- arrange the chair 2- arrange the chair 3- arrange the chair 4- arrange the chair 5- arrange the chair 6- arrange the chair 7- arrange the chair 8- arrange the chair 9- place the pen on the table 10- place the pen on the table 11- place the pen on the table 12- place the pen on the table 13- place the pen in the holder 14- move the cart to the table 15- place the pen in the holder 16- place the pen in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- place the pen in the holder 2- place the pen in the holder 3- place the pen in the holder 4- move the cart to the corner 5- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the pen in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the pen in the holder\n\u003c/PRED\u003e","video":"5292533923930474796.mp4"}
+{"uid":"10968006514197835018","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: The meeting has ended, please push in all the chairs and return all the pens to the service cart. last 20 steps: 1- arrange the chair 2- arrange the chair 3- arrange the chair 4- arrange the chair 5- arrange the chair 6- arrange the chair Q: next 5 steps? \u003cPRED\u003eA: 1- arrange the chair 2- arrange the chair 3- place the pen on the table 4- place the pen on the table 5- place the pen on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\narrange the chair Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: The meeting has ended, please push in all the chairs and return all the pens to the service cart. last 20 steps: 1- arrange the chair 2- arrange the chair 3- arrange the chair 4- arrange the chair 5- arrange the chair 6- arrange the chair Q: immediate next step? \u003cPRED\u003eA: arrange the chair\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: arrange the chair\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: The meeting has ended, please push in all the chairs and return all the pens to the service cart Q: immediate next step? \u003cPRED\u003eA: arrange the chair\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: arrange the chair\n\u003c/PRED\u003e","video":"7810441365063561706.mp4"}
+{"uid":"11571844251414731219","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the banana in bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the banana in bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you prepare a fruit bowl? Q: immediate next step? \u003cPRED\u003eA: Put the banana in bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the banana in bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you prepare a fruit bowl?. last 20 steps: 1- Put the banana in bowl 2- Put the banana in bowl Q: immediate next step? \u003cPRED\u003eA: Put the banana in bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you prepare a fruit bowl?. last 20 steps: 1- Put the banana in bowl 2- Put the banana in bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put the banana in bowl 2- Put the orange in bowl 3- Put the orange in bowl 4- Put the orange in bowl 5- Put the orange in bowl\n\u003c/PRED\u003e","video":"12552921183219900669.mp4"}
+{"uid":"13533083922831070910","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the pen on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: The meeting has ended, please push in all the chairs and return all the pens to the service cart. last 20 steps: 1- arrange the chair 2- arrange the chair 3- arrange the chair 4- arrange the chair 5- arrange the chair 6- arrange the chair 7- arrange the chair 8- arrange the chair 9- place the pen on the table Q: immediate next step? \u003cPRED\u003eA: place the pen on the table\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the pen on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the pen on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: The meeting has ended, please push in all the chairs and return all the pens to the service cart. last 20 steps: 1- arrange the chair 2- arrange the chair 3- arrange the chair 4- arrange the chair 5- arrange the chair 6- arrange the chair 7- arrange the chair 8- arrange the chair 9- place the pen on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the pen on the table 2- place the pen on the table 3- place the pen on the table 4- place the pen in the holder 5- move the cart to the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: The meeting has ended, please push in all the chairs and return all the pens to the service cart Q: immediate next step? \u003cPRED\u003eA: place the pen on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the pen on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the pen on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17292890822477853048.mp4"}
+{"uid":"12966787323364019368","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the packet in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2740740339401409225.mp4"}
+{"uid":"13310141792555378610","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the packet in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6686289835632986472.mp4"}
+{"uid":"15080884390617154132","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: The meeting has ended, please push in all the chairs and return all the pens to the service cart Q: immediate next step? \u003cPRED\u003eA: arrange the chair\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: The meeting has ended, please push in all the chairs and return all the pens to the service cart. last 20 steps: 1- arrange the chair 2- arrange the chair 3- arrange the chair 4- arrange the chair Q: immediate next step? \u003cPRED\u003eA: arrange the chair\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: arrange the chair\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\narrange the chair Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: arrange the chair\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\narrange the chair Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: The meeting has ended, please push in all the chairs and return all the pens to the service cart. last 20 steps: 1- arrange the chair 2- arrange the chair 3- arrange the chair 4- arrange the chair Q: next 5 steps? \u003cPRED\u003eA: 1- arrange the chair 2- arrange the chair 3- arrange the chair 4- arrange the chair 5- place the pen on the table\n\u003c/PRED\u003e","video":"6797571670851318613.mp4"}
+{"uid":"15314054834659782757","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move the cart to the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove the cart to the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the pen in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: The meeting has ended, please push in all the chairs and return all the pens to the service cart Q: immediate next step? \u003cPRED\u003eA: move the cart to the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove the cart to the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the pen in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move the cart to the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: The meeting has ended, please push in all the chairs and return all the pens to the service cart. last 20 steps: 1- arrange the chair 2- arrange the chair 3- arrange the chair 4- arrange the chair 5- arrange the chair 6- arrange the chair 7- arrange the chair 8- arrange the chair 9- place the pen on the table 10- place the pen on the table 11- place the pen on the table 12- place the pen on the table 13- place the pen in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- move the cart to the table 2- place the pen in the holder 3- place the pen in the holder 4- place the pen in the holder 5- place the pen in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: The meeting has ended, please push in all the chairs and return all the pens to the service cart. last 20 steps: 1- arrange the chair 2- arrange the chair 3- arrange the chair 4- arrange the chair 5- arrange the chair 6- arrange the chair 7- arrange the chair 8- arrange the chair 9- place the pen on the table 10- place the pen on the table 11- place the pen on the table 12- place the pen on the table 13- place the pen in the holder Q: immediate next step? \u003cPRED\u003eA: move the cart to the table\n\u003c/PRED\u003e","video":"18159447303392320313.mp4"}
+{"uid":"7155495457335128433","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: The meeting has ended, please push in all the chairs and return all the pens to the service cart. last 20 steps: 1- arrange the chair 2- arrange the chair 3- arrange the chair 4- arrange the chair 5- arrange the chair 6- arrange the chair 7- arrange the chair 8- arrange the chair 9- place the pen on the table 10- place the pen on the table 11- place the pen on the table 12- place the pen on the table 13- place the pen in the holder 14- move the cart to the table 15- place the pen in the holder 16- place the pen in the holder 17- place the pen in the holder 18- place the pen in the holder Q: immediate next step? \u003cPRED\u003eA: place the pen in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the pen in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: The meeting has ended, please push in all the chairs and return all the pens to the service cart Q: immediate next step? \u003cPRED\u003eA: place the pen in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the pen in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the pen in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the pen in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: The meeting has ended, please push in all the chairs and return all the pens to the service cart. last 20 steps: 1- arrange the chair 2- arrange the chair 3- arrange the chair 4- arrange the chair 5- arrange the chair 6- arrange the chair 7- arrange the chair 8- arrange the chair 9- place the pen on the table 10- place the pen on the table 11- place the pen on the table 12- place the pen on the table 13- place the pen in the holder 14- move the cart to the table 15- place the pen in the holder 16- place the pen in the holder 17- place the pen in the holder 18- place the pen in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- place the pen in the holder 2- move the cart to the corner 3- done\n\u003c/PRED\u003e","video":"12566115823062847174.mp4"}
+{"uid":"2797446375390920459","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: The meeting has ended, please push in all the chairs and return all the pens to the service cart Q: immediate next step? \u003cPRED\u003eA: arrange the chair\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: arrange the chair\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\narrange the chair Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: The meeting has ended, please push in all the chairs and return all the pens to the service cart. last 20 steps: 1- arrange the chair Q: next 5 steps? \u003cPRED\u003eA: 1- arrange the chair 2- arrange the chair 3- arrange the chair 4- arrange the chair 5- arrange the chair\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: arrange the chair\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: The meeting has ended, please push in all the chairs and return all the pens to the service cart. last 20 steps: 1- arrange the chair Q: immediate next step? \u003cPRED\u003eA: arrange the chair\n\u003c/PRED\u003e","video":"3829962633460393872.mp4"}
+{"uid":"8183606097409830499","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the pen on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the pen on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: The meeting has ended, please push in all the chairs and return all the pens to the service cart Q: immediate next step? \u003cPRED\u003eA: place the pen on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the pen on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the pen on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: The meeting has ended, please push in all the chairs and return all the pens to the service cart. last 20 steps: 1- arrange the chair 2- arrange the chair 3- arrange the chair 4- arrange the chair 5- arrange the chair 6- arrange the chair 7- arrange the chair 8- arrange the chair 9- place the pen on the table 10- place the pen on the table 11- place the pen on the table Q: immediate next step? \u003cPRED\u003eA: place the pen on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: The meeting has ended, please push in all the chairs and return all the pens to the service cart. last 20 steps: 1- arrange the chair 2- arrange the chair 3- arrange the chair 4- arrange the chair 5- arrange the chair 6- arrange the chair 7- arrange the chair 8- arrange the chair 9- place the pen on the table 10- place the pen on the table 11- place the pen on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the pen on the table 2- place the pen in the holder 3- move the cart to the table 4- place the pen in the holder 5- place the pen in the holder\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the pen on the table\n\u003c/PRED\u003e","video":"4654149218804521667.mp4"}
+{"uid":"17532714430631541099","text":"\u003ctask:success:discrete:False\u003e\nPut the orange in bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the orange in bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the orange in bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you prepare a fruit bowl?. last 20 steps: 1- Put the banana in bowl 2- Put the banana in bowl 3- Put the banana in bowl Q: immediate next step? \u003cPRED\u003eA: Put the orange in bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you prepare a fruit bowl?. last 20 steps: 1- Put the banana in bowl 2- Put the banana in bowl 3- Put the banana in bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put the orange in bowl 2- Put the orange in bowl 3- Put the orange in bowl 4- Put the orange in bowl 5- Put the orange in bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the orange in bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you prepare a fruit bowl? Q: immediate next step? \u003cPRED\u003eA: Put the orange in bowl\n\u003c/PRED\u003e","video":"14966915553347307707.mp4"}
+{"uid":"7075700390005766366","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: The meeting has ended, please push in all the chairs and return all the pens to the service cart Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: The meeting has ended, please push in all the chairs and return all the pens to the service cart. last 20 steps: 1- arrange the chair 2- arrange the chair 3- arrange the chair 4- arrange the chair 5- arrange the chair 6- arrange the chair 7- arrange the chair 8- arrange the chair 9- place the pen on the table 10- place the pen on the table 11- place the pen on the table 12- place the pen on the table 13- place the pen in the holder 14- move the cart to the table 15- place the pen in the holder 16- place the pen in the holder 17- place the pen in the holder 18- place the pen in the holder 19- place the pen in the holder 20- move the cart to the corner Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nmove the cart to the corner Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move the cart to the corner\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: The meeting has ended, please push in all the chairs and return all the pens to the service cart. last 20 steps: 1- arrange the chair 2- arrange the chair 3- arrange the chair 4- arrange the chair 5- arrange the chair 6- arrange the chair 7- arrange the chair 8- arrange the chair 9- place the pen on the table 10- place the pen on the table 11- place the pen on the table 12- place the pen on the table 13- place the pen in the holder 14- move the cart to the table 15- place the pen in the holder 16- place the pen in the holder 17- place the pen in the holder 18- place the pen in the holder 19- place the pen in the holder 20- move the cart to the corner Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"9079629676462485048.mp4"}
+{"uid":"16283897902277829046","text":"\u003ctask:success:discrete:True\u003e\narrange the chair Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: arrange the chair\n\u003c/PRED\u003e","video":"8729703590656659237.mp4"}
+{"uid":"13237152818121575858","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you prepare a fruit bowl? Q: immediate next step? \u003cPRED\u003eA: Put the orange in bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the orange in bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the orange in bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you prepare a fruit bowl?. last 20 steps: 1- Put the banana in bowl 2- Put the banana in bowl 3- Put the banana in bowl 4- Put the orange in bowl 5- Put the orange in bowl 6- Put the orange in bowl Q: immediate next step? \u003cPRED\u003eA: Put the orange in bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you prepare a fruit bowl?. last 20 steps: 1- Put the banana in bowl 2- Put the banana in bowl 3- Put the banana in bowl 4- Put the orange in bowl 5- Put the orange in bowl 6- Put the orange in bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put the orange in bowl 2- Put the orange in bowl 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the orange in bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8482713079746246302.mp4"}
+{"uid":"9870428980020741497","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: The meeting has ended, please push in all the chairs and return all the pens to the service cart. last 20 steps: 1- arrange the chair 2- arrange the chair 3- arrange the chair 4- arrange the chair 5- arrange the chair 6- arrange the chair 7- arrange the chair Q: immediate next step? \u003cPRED\u003eA: arrange the chair\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: arrange the chair\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: arrange the chair\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: arrange the chair\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: The meeting has ended, please push in all the chairs and return all the pens to the service cart Q: immediate next step? \u003cPRED\u003eA: arrange the chair\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\narrange the chair Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: The meeting has ended, please push in all the chairs and return all the pens to the service cart. last 20 steps: 1- arrange the chair 2- arrange the chair 3- arrange the chair 4- arrange the chair 5- arrange the chair 6- arrange the chair 7- arrange the chair Q: next 5 steps? \u003cPRED\u003eA: 1- arrange the chair 2- place the pen on the table 3- place the pen on the table 4- place the pen on the table 5- place the pen on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\narrange the chair Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13962473564901332243.mp4"}
+{"uid":"17733753965374984439","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput paper clip in the container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13736080426285168789.mp4"}
+{"uid":"5820341899102759823","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the chocolate in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16254315511254383131.mp4"}
+{"uid":"342652545260431180","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the can in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6661775078105065089.mp4"}
+{"uid":"8185515370923793356","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the orange pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16556820458198302903.mp4"}
+{"uid":"11899895965147339705","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up the trash bin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4827478834364228034.mp4"}
+{"uid":"9941618026397816359","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: The meeting has ended, please push in all the chairs and return all the pens to the service cart. last 20 steps: 1- arrange the chair 2- arrange the chair 3- arrange the chair 4- arrange the chair 5- arrange the chair 6- arrange the chair 7- arrange the chair 8- arrange the chair Q: immediate next step? \u003cPRED\u003eA: place the pen on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\narrange the chair Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the pen on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: The meeting has ended, please push in all the chairs and return all the pens to the service cart Q: immediate next step? \u003cPRED\u003eA: place the pen on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the pen on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the pen on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: The meeting has ended, please push in all the chairs and return all the pens to the service cart. last 20 steps: 1- arrange the chair 2- arrange the chair 3- arrange the chair 4- arrange the chair 5- arrange the chair 6- arrange the chair 7- arrange the chair 8- arrange the chair Q: next 5 steps? \u003cPRED\u003eA: 1- place the pen on the table 2- place the pen on the table 3- place the pen on the table 4- place the pen on the table 5- place the pen in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the pen on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: arrange the chair\n\u003c/PRED\u003e","video":"10818800589399028520.mp4"}
+{"uid":"15605831753096218653","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the orange in bowl\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the orange in bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you prepare a fruit bowl? Q: immediate next step? \u003cPRED\u003eA: Put the orange in bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the orange in bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you prepare a fruit bowl?. last 20 steps: 1- Put the banana in bowl 2- Put the banana in bowl 3- Put the banana in bowl 4- Put the orange in bowl 5- Put the orange in bowl 6- Put the orange in bowl 7- Put the orange in bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put the orange in bowl 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you prepare a fruit bowl?. last 20 steps: 1- Put the banana in bowl 2- Put the banana in bowl 3- Put the banana in bowl 4- Put the orange in bowl 5- Put the orange in bowl 6- Put the orange in bowl 7- Put the orange in bowl Q: immediate next step? \u003cPRED\u003eA: Put the orange in bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the orange in bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the orange in bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8352977945530738583.mp4"}
+{"uid":"4771993791133608245","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput redbull can in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13095910457882124657.mp4"}
+{"uid":"2158578075631627322","text":"\u003ctask:success:discrete:False\u003e\nmove the cart to the corner Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: The meeting has ended, please push in all the chairs and return all the pens to the service cart. last 20 steps: 1- arrange the chair 2- arrange the chair 3- arrange the chair 4- arrange the chair 5- arrange the chair 6- arrange the chair 7- arrange the chair 8- arrange the chair 9- place the pen on the table 10- place the pen on the table 11- place the pen on the table 12- place the pen on the table 13- place the pen in the holder 14- move the cart to the table 15- place the pen in the holder 16- place the pen in the holder 17- place the pen in the holder 18- place the pen in the holder 19- place the pen in the holder Q: immediate next step? \u003cPRED\u003eA: move the cart to the corner\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: The meeting has ended, please push in all the chairs and return all the pens to the service cart Q: immediate next step? \u003cPRED\u003eA: move the cart to the corner\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move the cart to the corner\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move the cart to the corner\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove the cart to the corner Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: The meeting has ended, please push in all the chairs and return all the pens to the service cart. last 20 steps: 1- arrange the chair 2- arrange the chair 3- arrange the chair 4- arrange the chair 5- arrange the chair 6- arrange the chair 7- arrange the chair 8- arrange the chair 9- place the pen on the table 10- place the pen on the table 11- place the pen on the table 12- place the pen on the table 13- place the pen in the holder 14- move the cart to the table 15- place the pen in the holder 16- place the pen in the holder 17- place the pen in the holder 18- place the pen in the holder 19- place the pen in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- move the cart to the corner 2- done\n\u003c/PRED\u003e","video":"7578737706727361892.mp4"}
+{"uid":"10458751232306592021","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the plastic knife in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5086943084065493362.mp4"}
+{"uid":"47042287614530257","text":"\u003ctask:success:discrete:True\u003e\nplace the pen in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: The meeting has ended, please push in all the chairs and return all the pens to the service cart. last 20 steps: 1- arrange the chair 2- arrange the chair 3- arrange the chair 4- arrange the chair 5- arrange the chair 6- arrange the chair 7- arrange the chair 8- arrange the chair 9- place the pen on the table 10- place the pen on the table 11- place the pen on the table 12- place the pen on the table 13- place the pen in the holder 14- move the cart to the table 15- place the pen in the holder 16- place the pen in the holder 17- place the pen in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- place the pen in the holder 2- place the pen in the holder 3- move the cart to the corner 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: The meeting has ended, please push in all the chairs and return all the pens to the service cart. last 20 steps: 1- arrange the chair 2- arrange the chair 3- arrange the chair 4- arrange the chair 5- arrange the chair 6- arrange the chair 7- arrange the chair 8- arrange the chair 9- place the pen on the table 10- place the pen on the table 11- place the pen on the table 12- place the pen on the table 13- place the pen in the holder 14- move the cart to the table 15- place the pen in the holder 16- place the pen in the holder 17- place the pen in the holder Q: immediate next step? \u003cPRED\u003eA: place the pen in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: The meeting has ended, please push in all the chairs and return all the pens to the service cart Q: immediate next step? \u003cPRED\u003eA: place the pen in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the pen in the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the pen in the holder\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the pen in the holder\n\u003c/PRED\u003e","video":"10354044501962918978.mp4"}
+{"uid":"6209194188205159397","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the banana in bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the banana in bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the banana in bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you prepare a fruit bowl?. last 20 steps: 1- Put the banana in bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put the banana in bowl 2- Put the banana in bowl 3- Put the orange in bowl 4- Put the orange in bowl 5- Put the orange in bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you prepare a fruit bowl?. last 20 steps: 1- Put the banana in bowl Q: immediate next step? \u003cPRED\u003eA: Put the banana in bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you prepare a fruit bowl? Q: immediate next step? \u003cPRED\u003eA: Put the banana in bowl\n\u003c/PRED\u003e","video":"8617761057706757156.mp4"}
+{"uid":"1018599055026629887","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up the Pista put it in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16588763345911198419.mp4"}
+{"uid":"5724754337803274922","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: The meeting has ended, please push in all the chairs and return all the pens to the service cart. last 20 steps: 1- arrange the chair 2- arrange the chair Q: next 5 steps? \u003cPRED\u003eA: 1- arrange the chair 2- arrange the chair 3- arrange the chair 4- arrange the chair 5- arrange the chair\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\narrange the chair Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: The meeting has ended, please push in all the chairs and return all the pens to the service cart. last 20 steps: 1- arrange the chair 2- arrange the chair Q: immediate next step? \u003cPRED\u003eA: arrange the chair\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\narrange the chair Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: arrange the chair\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: arrange the chair\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: The meeting has ended, please push in all the chairs and return all the pens to the service cart Q: immediate next step? \u003cPRED\u003eA: arrange the chair\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: arrange the chair\n\u003c/PRED\u003e","video":"3017971663330032322.mp4"}
+{"uid":"8947086084950823767","text":"\u003ctask:success:discrete:True\u003e\narrange the chair Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: The meeting has ended, please push in all the chairs and return all the pens to the service cart Q: immediate next step? \u003cPRED\u003eA: arrange the chair\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: arrange the chair\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\narrange the chair Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: arrange the chair\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: The meeting has ended, please push in all the chairs and return all the pens to the service cart. last 20 steps: 1- arrange the chair 2- arrange the chair 3- arrange the chair 4- arrange the chair 5- arrange the chair Q: next 5 steps? \u003cPRED\u003eA: 1- arrange the chair 2- arrange the chair 3- arrange the chair 4- place the pen on the table 5- place the pen on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: The meeting has ended, please push in all the chairs and return all the pens to the service cart. last 20 steps: 1- arrange the chair 2- arrange the chair 3- arrange the chair 4- arrange the chair 5- arrange the chair Q: immediate next step? \u003cPRED\u003eA: arrange the chair\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: arrange the chair\n\u003c/PRED\u003e","video":"14454034894627802729.mp4"}
+{"uid":"6451331805053208044","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the red packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11743859587547394001.mp4"}
+{"uid":"13353773362791536896","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack the book Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16741782894482518502.mp4"}
+{"uid":"15816114748989616021","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the orange in bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the orange in bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you prepare a fruit bowl? Q: immediate next step? \u003cPRED\u003eA: Put the orange in bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you prepare a fruit bowl?. last 20 steps: 1- Put the banana in bowl 2- Put the banana in bowl 3- Put the banana in bowl 4- Put the orange in bowl Q: immediate next step? \u003cPRED\u003eA: Put the orange in bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you prepare a fruit bowl?. last 20 steps: 1- Put the banana in bowl 2- Put the banana in bowl 3- Put the banana in bowl 4- Put the orange in bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put the orange in bowl 2- Put the orange in bowl 3- Put the orange in bowl 4- Put the orange in bowl 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the orange in bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7188673634434559917.mp4"}
+{"uid":"13932040800956595850","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the pen on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"219524017836428091.mp4"}
+{"uid":"16949520084967262596","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: arrange the chair\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\narrange the chair Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: The meeting has ended, please push in all the chairs and return all the pens to the service cart Q: immediate next step? \u003cPRED\u003eA: arrange the chair\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: arrange the chair\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: The meeting has ended, please push in all the chairs and return all the pens to the service cart. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: arrange the chair\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: The meeting has ended, please push in all the chairs and return all the pens to the service cart. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- arrange the chair 2- arrange the chair 3- arrange the chair 4- arrange the chair 5- arrange the chair\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\narrange the chair Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8839340488822106241.mp4"}
+{"uid":"5517809171597396673","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nClose the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13184631380250118021.mp4"}
+{"uid":"15356138884262836555","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the banana in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1150478413819368329.mp4"}
+{"uid":"3941429266725570243","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace a brown packet on the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4024352757717245269.mp4"}
+{"uid":"13998520909445163394","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ntake tissue Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3893151804832706471.mp4"}
+{"uid":"3780970797329806593","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pen in the pen stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7813123042457473385.mp4"}
+{"uid":"7037392137872528554","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: The meeting has ended, please push in all the chairs and return all the pens to the service cart. last 20 steps: 1- arrange the chair 2- arrange the chair 3- arrange the chair 4- arrange the chair 5- arrange the chair 6- arrange the chair 7- arrange the chair 8- arrange the chair 9- place the pen on the table 10- place the pen on the table 11- place the pen on the table 12- place the pen on the table 13- place the pen in the holder 14- move the cart to the table 15- place the pen in the holder Q: immediate next step? \u003cPRED\u003eA: place the pen in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the pen in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the pen in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: The meeting has ended, please push in all the chairs and return all the pens to the service cart Q: immediate next step? \u003cPRED\u003eA: place the pen in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the pen in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: The meeting has ended, please push in all the chairs and return all the pens to the service cart. last 20 steps: 1- arrange the chair 2- arrange the chair 3- arrange the chair 4- arrange the chair 5- arrange the chair 6- arrange the chair 7- arrange the chair 8- arrange the chair 9- place the pen on the table 10- place the pen on the table 11- place the pen on the table 12- place the pen on the table 13- place the pen in the holder 14- move the cart to the table 15- place the pen in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- place the pen in the holder 2- place the pen in the holder 3- place the pen in the holder 4- place the pen in the holder 5- move the cart to the corner\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the pen in the holder\n\u003c/PRED\u003e","video":"13674973952064006989.mp4"}
+{"uid":"166063972710924856","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the orange on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15531004184213425293.mp4"}
+{"uid":"16572881462496666918","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the blue packet in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18082859971724740693.mp4"}
+{"uid":"5283817581506651565","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nslightly push the tape dispenser Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7643921173481437895.mp4"}
+{"uid":"8129727936955506281","text":"\u003ctask:success:discrete:True\u003e\nPut the candy into the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the candy into the box\n\u003c/PRED\u003e","video":"5176253387465001667.mp4"}
+{"uid":"13352763311868462543","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place orange candy in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace orange candy in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4875554849797256081.mp4"}
+{"uid":"4679586878972869511","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12219772446244819002.mp4"}
+{"uid":"1487727333446143521","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: move the candies into the white tray, then put the spilled pistachios into the paper cup. Q: immediate next step? \u003cPRED\u003eA: Put the candy into the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the candy into the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the candy into the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: move the candies into the white tray, then put the spilled pistachios into the paper cup. last 20 steps: 1- place orange candy in the box 2- place orange candy in the box 3- place orange candy in the box 4- place orange candy in the box Q: next 5 steps? \u003cPRED\u003eA: 1- Put the candy into the box 2- place orange candy in the box 3- place orange candy in the box 4- place orange candy in the box 5- put pistachio into the cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: move the candies into the white tray, then put the spilled pistachios into the paper cup. last 20 steps: 1- place orange candy in the box 2- place orange candy in the box 3- place orange candy in the box 4- place orange candy in the box Q: immediate next step? \u003cPRED\u003eA: Put the candy into the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the candy into the box\n\u003c/PRED\u003e","video":"8592206023234206045.mp4"}
+{"uid":"12102890152642927176","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place orange candy in the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: move the candies into the white tray, then put the spilled pistachios into the paper cup. last 20 steps: 1- place orange candy in the box 2- place orange candy in the box 3- place orange candy in the box 4- place orange candy in the box 5- place orange candy in the box 6- place orange candy in the box Q: immediate next step? \u003cPRED\u003eA: place orange candy in the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: move the candies into the white tray, then put the spilled pistachios into the paper cup. last 20 steps: 1- place orange candy in the box 2- place orange candy in the box 3- place orange candy in the box 4- place orange candy in the box 5- place orange candy in the box 6- place orange candy in the box Q: next 5 steps? \u003cPRED\u003eA: 1- place orange candy in the box 2- place orange candy in the box 3- place orange candy in the box 4- put pistachio into the cup 5- put pistachio into the cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place orange candy in the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: move the candies into the white tray, then put the spilled pistachios into the paper cup. Q: immediate next step? \u003cPRED\u003eA: place orange candy in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace orange candy in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace orange candy in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place orange candy in the box\n\u003c/PRED\u003e","video":"6124317692504710546.mp4"}
+{"uid":"17249085012811122685","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the brown packet into the black container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14576724667783126093.mp4"}
+{"uid":"10630261790670581232","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: my desk is dirty can you clean up the toy and put it in the basket. last 20 steps: 1- put toy in the basket 2- put toy in the basket 3- put ball in the basket 4- put toy in the basket 5- put cube in the basket 6- put toy in the basket 7- put toy in the basket 8- put toy in the basket Q: immediate next step? \u003cPRED\u003eA: put toy in the basket\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put toy in the basket\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put toy in the basket\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: my desk is dirty can you clean up the toy and put it in the basket Q: immediate next step? \u003cPRED\u003eA: put toy in the basket\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput toy in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: my desk is dirty can you clean up the toy and put it in the basket. last 20 steps: 1- put toy in the basket 2- put toy in the basket 3- put ball in the basket 4- put toy in the basket 5- put cube in the basket 6- put toy in the basket 7- put toy in the basket 8- put toy in the basket Q: next 5 steps? \u003cPRED\u003eA: 1- put toy in the basket 2- put toy in the basket 3- done\n\u003c/PRED\u003e","video":"18030720867994373121.mp4"}
+{"uid":"2561719180414739717","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2645036141089378029.mp4"}
+{"uid":"7852114593449371694","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput Pistachio in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput Pistachio in the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: move the candies into the white tray, then put the spilled pistachios into the paper cup. last 20 steps: 1- place orange candy in the box 2- place orange candy in the box 3- place orange candy in the box 4- place orange candy in the box 5- place orange candy in the box 6- place orange candy in the box 7- place orange candy in the box 8- place orange candy in the box 9- place orange candy in the box Q: immediate next step? \u003cPRED\u003eA: put Pistachio in the cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put Pistachio in the cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: move the candies into the white tray, then put the spilled pistachios into the paper cup. last 20 steps: 1- place orange candy in the box 2- place orange candy in the box 3- place orange candy in the box 4- place orange candy in the box 5- place orange candy in the box 6- place orange candy in the box 7- place orange candy in the box 8- place orange candy in the box 9- place orange candy in the box Q: next 5 steps? \u003cPRED\u003eA: 1- put Pistachio in the cup 2- put pistachio into the cup 3- put pistachio into the cup 4- put pistachio into the cup 5- put pistachio into the cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: move the candies into the white tray, then put the spilled pistachios into the paper cup. Q: immediate next step? \u003cPRED\u003eA: put Pistachio in the cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put Pistachio in the cup\n\u003c/PRED\u003e","video":"15530693899429151014.mp4"}
+{"uid":"3615564117725067967","text":"\u003ctask:success:discrete:True\u003e\nPut the candy into the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the candy into the box\n\u003c/PRED\u003e","video":"6623937904833229965.mp4"}
+{"uid":"10751332625062102101","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13952962921041227028.mp4"}
+{"uid":"1453174113241440875","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: move the candies into the white tray, then put the spilled pistachios into the paper cup. last 20 steps: 1- place orange candy in the box 2- place orange candy in the box 3- place orange candy in the box 4- place orange candy in the box 5- place orange candy in the box 6- place orange candy in the box 7- place orange candy in the box 8- place orange candy in the box 9- place orange candy in the box 10- put pistachio into the cup 11- put pistachio into the cup 12- put pistachio into the cup 13- put pistachio into the cup 14- put pistachio into the cup Q: next 5 steps? \u003cPRED\u003eA: 1- put pistachio into the cup 2- put pistachio into the cup 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: move the candies into the white tray, then put the spilled pistachios into the paper cup. last 20 steps: 1- place orange candy in the box 2- place orange candy in the box 3- place orange candy in the box 4- place orange candy in the box 5- place orange candy in the box 6- place orange candy in the box 7- place orange candy in the box 8- place orange candy in the box 9- place orange candy in the box 10- put pistachio into the cup 11- put pistachio into the cup 12- put pistachio into the cup 13- put pistachio into the cup 14- put pistachio into the cup Q: immediate next step? \u003cPRED\u003eA: put pistachio into the cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput pistachio into the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput pistachio into the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put pistachio into the cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put pistachio into the cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: move the candies into the white tray, then put the spilled pistachios into the paper cup. Q: immediate next step? \u003cPRED\u003eA: put pistachio into the cup\n\u003c/PRED\u003e","video":"756305030599124332.mp4"}
+{"uid":"3314591952207416180","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the candy into the box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the candy into the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14625633418811826650.mp4"}
+{"uid":"14363017994256915003","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace  blue pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18307580175117525338.mp4"}
+{"uid":"11596982433084342585","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut candy on a table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7685245022804095905.mp4"}
+{"uid":"16848419507357050906","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the candy on the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5620176843765921676.mp4"}
+{"uid":"8820897903135255263","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the candy into the box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the candy into the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17621135471825739407.mp4"}
+{"uid":"14940607616610649962","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: move the candies into the white tray, then put the spilled pistachios into the paper cup. last 20 steps: 1- place orange candy in the box 2- place orange candy in the box 3- place orange candy in the box 4- place orange candy in the box 5- place orange candy in the box 6- place orange candy in the box 7- place orange candy in the box 8- place orange candy in the box 9- place orange candy in the box 10- put pistachio into the cup 11- put pistachio into the cup 12- put pistachio into the cup 13- put pistachio into the cup 14- put pistachio into the cup 15- put a pista into the cup Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: move the candies into the white tray, then put the spilled pistachios into the paper cup. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: move the candies into the white tray, then put the spilled pistachios into the paper cup. last 20 steps: 1- place orange candy in the box 2- place orange candy in the box 3- place orange candy in the box 4- place orange candy in the box 5- place orange candy in the box 6- place orange candy in the box 7- place orange candy in the box 8- place orange candy in the box 9- place orange candy in the box 10- put pistachio into the cup 11- put pistachio into the cup 12- put pistachio into the cup 13- put pistachio into the cup 14- put pistachio into the cup 15- put a pista into the cup Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put a pista into the cup\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput a pista into the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10548173870843445708.mp4"}
+{"uid":"8554881488882328310","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the alphabet tiles in the bag Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17157108478402305103.mp4"}
+{"uid":"6823233928035975114","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the seaweed snack in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10082852513460293670.mp4"}
+{"uid":"5109787532217578466","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nOpen the right sheet of the cardboard box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11306587211222827050.mp4"}
+{"uid":"1531971331826061731","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: move the candies into the white tray, then put the spilled pistachios into the paper cup. Q: immediate next step? \u003cPRED\u003eA: move arm upward\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: move the candies into the white tray, then put the spilled pistachios into the paper cup. last 20 steps: 1- place orange candy in the box 2- place orange candy in the box 3- place orange candy in the box 4- place orange candy in the box 5- place orange candy in the box 6- place orange candy in the box 7- place orange candy in the box 8- place orange candy in the box 9- place orange candy in the box Q: next 5 steps? \u003cPRED\u003eA: 1- move arm upward 2- put pistachio into the cup 3- put pistachio into the cup 4- put pistachio into the cup 5- put pistachio into the cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move arm upward\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: move the candies into the white tray, then put the spilled pistachios into the paper cup. last 20 steps: 1- place orange candy in the box 2- place orange candy in the box 3- place orange candy in the box 4- place orange candy in the box 5- place orange candy in the box 6- place orange candy in the box 7- place orange candy in the box 8- place orange candy in the box 9- place orange candy in the box Q: immediate next step? \u003cPRED\u003eA: move arm upward\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move arm upward\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove arm upward Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove arm upward Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8087267301983369055.mp4"}
+{"uid":"5269355949529479223","text":"\u003ctask:success:discrete:True\u003e\nput a pista into the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put a pista into the cup\n\u003c/PRED\u003e","video":"7735634241016729505.mp4"}
+{"uid":"7754858462824189842","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14259934599543101103.mp4"}
+{"uid":"9160364789077601526","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: move the candies into the white tray, then put the spilled pistachios into the paper cup. last 20 steps: 1- place orange candy in the box 2- place orange candy in the box 3- place orange candy in the box 4- place orange candy in the box 5- place orange candy in the box 6- place orange candy in the box 7- place orange candy in the box Q: immediate next step? \u003cPRED\u003eA: put the candy in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: move the candies into the white tray, then put the spilled pistachios into the paper cup. Q: immediate next step? \u003cPRED\u003eA: put the candy in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the candy in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the candy in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: move the candies into the white tray, then put the spilled pistachios into the paper cup. last 20 steps: 1- place orange candy in the box 2- place orange candy in the box 3- place orange candy in the box 4- place orange candy in the box 5- place orange candy in the box 6- place orange candy in the box 7- place orange candy in the box Q: next 5 steps? \u003cPRED\u003eA: 1- put the candy in the tray 2- place orange candy in the box 3- put pistachio into the cup 4- put pistachio into the cup 5- put pistachio into the cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the candy in the tray\n\u003c/PRED\u003e","video":"17518135079378431433.mp4"}
+{"uid":"4212508123079730481","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: move the candies into the white tray, then put the spilled pistachios into the paper cup. Q: immediate next step? \u003cPRED\u003eA: Put the candy into the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: move the candies into the white tray, then put the spilled pistachios into the paper cup. last 20 steps: 1- place orange candy in the box 2- place orange candy in the box 3- place orange candy in the box 4- place orange candy in the box 5- place orange candy in the box Q: immediate next step? \u003cPRED\u003eA: Put the candy into the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the candy into the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: move the candies into the white tray, then put the spilled pistachios into the paper cup. last 20 steps: 1- place orange candy in the box 2- place orange candy in the box 3- place orange candy in the box 4- place orange candy in the box 5- place orange candy in the box Q: next 5 steps? \u003cPRED\u003eA: 1- Put the candy into the box 2- place orange candy in the box 3- place orange candy in the box 4- put pistachio into the cup 5- put pistachio into the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the candy into the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the candy into the box\n\u003c/PRED\u003e","video":"3344870934230477875.mp4"}
+{"uid":"3695050681085556269","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place orange candy in the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: move the candies into the white tray, then put the spilled pistachios into the paper cup. last 20 steps: 1- place orange candy in the box 2- place orange candy in the box 3- place orange candy in the box 4- place orange candy in the box Q: next 5 steps? \u003cPRED\u003eA: 1- place orange candy in the box 2- place orange candy in the box 3- place orange candy in the box 4- place orange candy in the box 5- place orange candy in the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: move the candies into the white tray, then put the spilled pistachios into the paper cup. Q: immediate next step? \u003cPRED\u003eA: place orange candy in the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: move the candies into the white tray, then put the spilled pistachios into the paper cup. last 20 steps: 1- place orange candy in the box 2- place orange candy in the box 3- place orange candy in the box 4- place orange candy in the box Q: immediate next step? \u003cPRED\u003eA: place orange candy in the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place orange candy in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace orange candy in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5151750013621885626.mp4"}
+{"uid":"210688412262665642","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: move the candies into the white tray, then put the spilled pistachios into the paper cup. Q: immediate next step? \u003cPRED\u003eA: put pistachio in the cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: move the candies into the white tray, then put the spilled pistachios into the paper cup. last 20 steps: 1- place orange candy in the box 2- place orange candy in the box 3- place orange candy in the box 4- place orange candy in the box 5- place orange candy in the box 6- place orange candy in the box 7- place orange candy in the box 8- place orange candy in the box 9- place orange candy in the box 10- put pistachio into the cup 11- put pistachio into the cup 12- put pistachio into the cup 13- put pistachio into the cup Q: next 5 steps? \u003cPRED\u003eA: 1- put pistachio in the cup 2- put a pista into the cup 3- put pistachio into the cup 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput pistachio in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put pistachio in the cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put pistachio in the cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: move the candies into the white tray, then put the spilled pistachios into the paper cup. last 20 steps: 1- place orange candy in the box 2- place orange candy in the box 3- place orange candy in the box 4- place orange candy in the box 5- place orange candy in the box 6- place orange candy in the box 7- place orange candy in the box 8- place orange candy in the box 9- place orange candy in the box 10- put pistachio into the cup 11- put pistachio into the cup 12- put pistachio into the cup 13- put pistachio into the cup Q: immediate next step? \u003cPRED\u003eA: put pistachio in the cup\n\u003c/PRED\u003e","video":"106435964449211120.mp4"}
+{"uid":"18096192219598437300","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove to the left Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9496984169652983179.mp4"}
+{"uid":"1667030132717873763","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put pistachio in the cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: move the candies into the white tray, then put the spilled pistachios into the paper cup. last 20 steps: 1- place orange candy in the box 2- place orange candy in the box 3- place orange candy in the box 4- place orange candy in the box 5- place orange candy in the box 6- place orange candy in the box 7- place orange candy in the box 8- place orange candy in the box 9- place orange candy in the box 10- put pistachio into the cup Q: immediate next step? \u003cPRED\u003eA: put pistachio in the cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput pistachio in the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: move the candies into the white tray, then put the spilled pistachios into the paper cup. last 20 steps: 1- place orange candy in the box 2- place orange candy in the box 3- place orange candy in the box 4- place orange candy in the box 5- place orange candy in the box 6- place orange candy in the box 7- place orange candy in the box 8- place orange candy in the box 9- place orange candy in the box 10- put pistachio into the cup Q: next 5 steps? \u003cPRED\u003eA: 1- put pistachio in the cup 2- put pistachio into the cup 3- put pistachio into the cup 4- put pistachio into the cup 5- put a pista into the cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: move the candies into the white tray, then put the spilled pistachios into the paper cup. Q: immediate next step? \u003cPRED\u003eA: put pistachio in the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput pistachio in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put pistachio in the cup\n\u003c/PRED\u003e","video":"8796687122989734346.mp4"}
+{"uid":"12709694101934016088","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: move the candies into the white tray, then put the spilled pistachios into the paper cup. last 20 steps: 1- place orange candy in the box 2- place orange candy in the box 3- place orange candy in the box 4- place orange candy in the box 5- place orange candy in the box 6- place orange candy in the box 7- place orange candy in the box 8- place orange candy in the box 9- place orange candy in the box 10- put pistachio into the cup Q: immediate next step? \u003cPRED\u003eA: put a pista into the cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put a pista into the cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: move the candies into the white tray, then put the spilled pistachios into the paper cup. Q: immediate next step? \u003cPRED\u003eA: put a pista into the cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put a pista into the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput a pista into the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: move the candies into the white tray, then put the spilled pistachios into the paper cup. last 20 steps: 1- place orange candy in the box 2- place orange candy in the box 3- place orange candy in the box 4- place orange candy in the box 5- place orange candy in the box 6- place orange candy in the box 7- place orange candy in the box 8- place orange candy in the box 9- place orange candy in the box 10- put pistachio into the cup Q: next 5 steps? \u003cPRED\u003eA: 1- put a pista into the cup 2- put pistachio into the cup 3- put pistachio into the cup 4- put a pista into the cup 5- put pistachio into the cup\n\u003c/PRED\u003e","video":"12587119569145994428.mp4"}
+{"uid":"228544070111699618","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace orange candy in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place orange candy in the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: move the candies into the white tray, then put the spilled pistachios into the paper cup. Q: immediate next step? \u003cPRED\u003eA: place orange candy in the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: move the candies into the white tray, then put the spilled pistachios into the paper cup. last 20 steps: 1- place orange candy in the box 2- place orange candy in the box 3- place orange candy in the box 4- place orange candy in the box 5- place orange candy in the box 6- place orange candy in the box 7- place orange candy in the box 8- place orange candy in the box Q: immediate next step? \u003cPRED\u003eA: place orange candy in the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place orange candy in the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: move the candies into the white tray, then put the spilled pistachios into the paper cup. last 20 steps: 1- place orange candy in the box 2- place orange candy in the box 3- place orange candy in the box 4- place orange candy in the box 5- place orange candy in the box 6- place orange candy in the box 7- place orange candy in the box 8- place orange candy in the box Q: next 5 steps? \u003cPRED\u003eA: 1- place orange candy in the box 2- put pistachio into the cup 3- put pistachio into the cup 4- put pistachio into the cup 5- put pistachio into the cup\n\u003c/PRED\u003e","video":"287387183643439123.mp4"}
+{"uid":"11466235556618520555","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput blue packet in small bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12486725378261337979.mp4"}
+{"uid":"17112740504706848538","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: move the candies into the white tray, then put the spilled pistachios into the paper cup. last 20 steps: 1- place orange candy in the box 2- place orange candy in the box 3- place orange candy in the box 4- place orange candy in the box 5- place orange candy in the box 6- place orange candy in the box 7- place orange candy in the box 8- place orange candy in the box 9- place orange candy in the box 10- put pistachio into the cup 11- put pistachio into the cup 12- put pistachio into the cup Q: immediate next step? \u003cPRED\u003eA: put pistachio in the cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put pistachio in the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput pistachio in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put pistachio in the cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: move the candies into the white tray, then put the spilled pistachios into the paper cup. Q: immediate next step? \u003cPRED\u003eA: put pistachio in the cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: move the candies into the white tray, then put the spilled pistachios into the paper cup. last 20 steps: 1- place orange candy in the box 2- place orange candy in the box 3- place orange candy in the box 4- place orange candy in the box 5- place orange candy in the box 6- place orange candy in the box 7- place orange candy in the box 8- place orange candy in the box 9- place orange candy in the box 10- put pistachio into the cup 11- put pistachio into the cup 12- put pistachio into the cup Q: next 5 steps? \u003cPRED\u003eA: 1- put pistachio in the cup 2- put pistachio into the cup 3- put a pista into the cup 4- put pistachio into the cup 5- done\n\u003c/PRED\u003e","video":"2239069465918969974.mp4"}
+{"uid":"17213479711841697908","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: move the candies into the white tray, then put the spilled pistachios into the paper cup. last 20 steps: 1- place orange candy in the box 2- place orange candy in the box 3- place orange candy in the box Q: immediate next step? \u003cPRED\u003eA: place orange candy in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace orange candy in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place orange candy in the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: move the candies into the white tray, then put the spilled pistachios into the paper cup. Q: immediate next step? \u003cPRED\u003eA: place orange candy in the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place orange candy in the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: move the candies into the white tray, then put the spilled pistachios into the paper cup. last 20 steps: 1- place orange candy in the box 2- place orange candy in the box 3- place orange candy in the box Q: next 5 steps? \u003cPRED\u003eA: 1- place orange candy in the box 2- place orange candy in the box 3- place orange candy in the box 4- place orange candy in the box 5- place orange candy in the box\n\u003c/PRED\u003e","video":"2116841924209420114.mp4"}
+{"uid":"6296611276845792534","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the blue packet into the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1956739609019892789.mp4"}
+{"uid":"14958675231239863291","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put toy in the basket\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: my desk is dirty can you clean up the toy and put it in the basket. last 20 steps: 1- put toy in the basket 2- put toy in the basket 3- put ball in the basket 4- put toy in the basket 5- put cube in the basket 6- put toy in the basket 7- put toy in the basket 8- put toy in the basket 9- put toy in the basket Q: next 5 steps? \u003cPRED\u003eA: 1- put toy in the basket 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: my desk is dirty can you clean up the toy and put it in the basket Q: immediate next step? \u003cPRED\u003eA: put toy in the basket\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put toy in the basket\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput toy in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: my desk is dirty can you clean up the toy and put it in the basket. last 20 steps: 1- put toy in the basket 2- put toy in the basket 3- put ball in the basket 4- put toy in the basket 5- put cube in the basket 6- put toy in the basket 7- put toy in the basket 8- put toy in the basket 9- put toy in the basket Q: immediate next step? \u003cPRED\u003eA: put toy in the basket\n\u003c/PRED\u003e","video":"15861529436626644996.mp4"}
+{"uid":"17609862189227713817","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nleave the room Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9524773933981577643.mp4"}
+{"uid":"3473562046207042819","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place orange candy in the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place orange candy in the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: move the candies into the white tray, then put the spilled pistachios into the paper cup. last 20 steps: 1- place orange candy in the box 2- place orange candy in the box Q: immediate next step? \u003cPRED\u003eA: place orange candy in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace orange candy in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: move the candies into the white tray, then put the spilled pistachios into the paper cup. last 20 steps: 1- place orange candy in the box 2- place orange candy in the box Q: next 5 steps? \u003cPRED\u003eA: 1- place orange candy in the box 2- place orange candy in the box 3- place orange candy in the box 4- place orange candy in the box 5- place orange candy in the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: move the candies into the white tray, then put the spilled pistachios into the paper cup. Q: immediate next step? \u003cPRED\u003eA: place orange candy in the box\n\u003c/PRED\u003e","video":"5987643331845015760.mp4"}
+{"uid":"2839813934675014601","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput a pista into the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: move the candies into the white tray, then put the spilled pistachios into the paper cup. last 20 steps: 1- place orange candy in the box 2- place orange candy in the box 3- place orange candy in the box 4- place orange candy in the box 5- place orange candy in the box 6- place orange candy in the box 7- place orange candy in the box 8- place orange candy in the box 9- place orange candy in the box 10- put pistachio into the cup 11- put pistachio into the cup 12- put pistachio into the cup Q: next 5 steps? \u003cPRED\u003eA: 1- put a pista into the cup 2- put a pista into the cup 3- put pistachio into the cup 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put a pista into the cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: move the candies into the white tray, then put the spilled pistachios into the paper cup. Q: immediate next step? \u003cPRED\u003eA: put a pista into the cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put a pista into the cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: move the candies into the white tray, then put the spilled pistachios into the paper cup. last 20 steps: 1- place orange candy in the box 2- place orange candy in the box 3- place orange candy in the box 4- place orange candy in the box 5- place orange candy in the box 6- place orange candy in the box 7- place orange candy in the box 8- place orange candy in the box 9- place orange candy in the box 10- put pistachio into the cup 11- put pistachio into the cup 12- put pistachio into the cup Q: immediate next step? \u003cPRED\u003eA: put a pista into the cup\n\u003c/PRED\u003e","video":"17226879123647564848.mp4"}
+{"uid":"17772164500529069893","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place orange candy in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace orange candy in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7468627253354207287.mp4"}
+{"uid":"10778288555459248496","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place orange candy in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace orange candy in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3280475485401332974.mp4"}
+{"uid":"1358551278243070424","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: my desk is dirty can you clean up the toy and put it in the basket. last 20 steps: 1- put toy in the basket 2- put toy in the basket 3- put ball in the basket 4- put toy in the basket 5- put cube in the basket Q: immediate next step? \u003cPRED\u003eA: put toy in the basket\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put toy in the basket\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: my desk is dirty can you clean up the toy and put it in the basket. last 20 steps: 1- put toy in the basket 2- put toy in the basket 3- put ball in the basket 4- put toy in the basket 5- put cube in the basket Q: next 5 steps? \u003cPRED\u003eA: 1- put toy in the basket 2- put toy in the basket 3- put toy in the basket 4- put toy in the basket 5- put toy in the basket\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put toy in the basket\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput toy in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput toy in the basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: my desk is dirty can you clean up the toy and put it in the basket Q: immediate next step? \u003cPRED\u003eA: put toy in the basket\n\u003c/PRED\u003e","video":"9634453830753768546.mp4"}
+{"uid":"11016899670597436400","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the candy in the white box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2845536723933768097.mp4"}
+{"uid":"5929369698590490183","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace fork in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15428684681324386679.mp4"}
+{"uid":"16899447022495261696","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2840659459171199739.mp4"}
+{"uid":"18376490756529281746","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: move the candies into the white tray, then put the spilled pistachios into the paper cup. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put candy in the tray 2- place orange candy in the box 3- place orange candy in the box 4- place orange candy in the box 5- place orange candy in the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: move the candies into the white tray, then put the spilled pistachios into the paper cup. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put candy in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput candy in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput candy in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put candy in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put candy in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: move the candies into the white tray, then put the spilled pistachios into the paper cup. Q: immediate next step? \u003cPRED\u003eA: put candy in the tray\n\u003c/PRED\u003e","video":"12622403492477062037.mp4"}
+{"uid":"13250565177616226103","text":"\u003ctask:success:discrete:True\u003e\nplace orange candy in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place orange candy in the box\n\u003c/PRED\u003e","video":"3536510724799015402.mp4"}
+{"uid":"5913890455754850761","text":"\u003ctask:success:discrete:True\u003e\nplace orange candy in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place orange candy in the box\n\u003c/PRED\u003e","video":"7009372648140553236.mp4"}
+{"uid":"2943418428007765727","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pistachio in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6191711096006765186.mp4"}
+{"uid":"17129347040051780719","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15083488087126349668.mp4"}
+{"uid":"14265436644738031647","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the candy in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: move the candies into the white tray, then put the spilled pistachios into the paper cup. last 20 steps: 1- place orange candy in the box Q: immediate next step? \u003cPRED\u003eA: put the candy in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: move the candies into the white tray, then put the spilled pistachios into the paper cup. last 20 steps: 1- place orange candy in the box Q: next 5 steps? \u003cPRED\u003eA: 1- put the candy in the tray 2- place orange candy in the box 3- place orange candy in the box 4- place orange candy in the box 5- place orange candy in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the candy in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the candy in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the candy in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: move the candies into the white tray, then put the spilled pistachios into the paper cup. Q: immediate next step? \u003cPRED\u003eA: put the candy in the tray\n\u003c/PRED\u003e","video":"1679689948578144109.mp4"}
+{"uid":"9791588665341662502","text":"\u003ctask:success:discrete:False\u003e\nput the candy in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the candy in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the candy in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: move the candies into the white tray, then put the spilled pistachios into the paper cup. last 20 steps: 1- place orange candy in the box 2- place orange candy in the box 3- place orange candy in the box 4- place orange candy in the box Q: immediate next step? \u003cPRED\u003eA: put the candy in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: move the candies into the white tray, then put the spilled pistachios into the paper cup. last 20 steps: 1- place orange candy in the box 2- place orange candy in the box 3- place orange candy in the box 4- place orange candy in the box Q: next 5 steps? \u003cPRED\u003eA: 1- put the candy in the tray 2- place orange candy in the box 3- place orange candy in the box 4- place orange candy in the box 5- place orange candy in the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the candy in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: move the candies into the white tray, then put the spilled pistachios into the paper cup. Q: immediate next step? \u003cPRED\u003eA: put the candy in the tray\n\u003c/PRED\u003e","video":"7230278803993235304.mp4"}
+{"uid":"4945743747527414020","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place orange candy in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace orange candy in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: move the candies into the white tray, then put the spilled pistachios into the paper cup. last 20 steps: 1- place orange candy in the box 2- place orange candy in the box 3- place orange candy in the box 4- place orange candy in the box 5- place orange candy in the box Q: immediate next step? \u003cPRED\u003eA: place orange candy in the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: move the candies into the white tray, then put the spilled pistachios into the paper cup. last 20 steps: 1- place orange candy in the box 2- place orange candy in the box 3- place orange candy in the box 4- place orange candy in the box 5- place orange candy in the box Q: next 5 steps? \u003cPRED\u003eA: 1- place orange candy in the box 2- place orange candy in the box 3- place orange candy in the box 4- place orange candy in the box 5- put pistachio into the cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place orange candy in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace orange candy in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place orange candy in the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: move the candies into the white tray, then put the spilled pistachios into the paper cup. Q: immediate next step? \u003cPRED\u003eA: place orange candy in the box\n\u003c/PRED\u003e","video":"17409658900443405962.mp4"}
+{"uid":"5237276532059452391","text":"\u003ctask:success:discrete:True\u003e\nplace orange candy in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place orange candy in the box\n\u003c/PRED\u003e","video":"4666526467550212754.mp4"}
+{"uid":"8487891172180036430","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the apple in a bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15565185238055710608.mp4"}
+{"uid":"4924173496171666787","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the plastic knives into the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16109053919082596745.mp4"}
+{"uid":"5498500869125566405","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the candy into the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: move the candies into the white tray, then put the spilled pistachios into the paper cup. last 20 steps: 1- place orange candy in the box 2- place orange candy in the box 3- place orange candy in the box 4- place orange candy in the box 5- place orange candy in the box 6- place orange candy in the box 7- place orange candy in the box 8- place orange candy in the box Q: next 5 steps? \u003cPRED\u003eA: 1- Put the candy into the box 2- put pistachio into the cup 3- put pistachio into the cup 4- put pistachio into the cup 5- put pistachio into the cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: move the candies into the white tray, then put the spilled pistachios into the paper cup. last 20 steps: 1- place orange candy in the box 2- place orange candy in the box 3- place orange candy in the box 4- place orange candy in the box 5- place orange candy in the box 6- place orange candy in the box 7- place orange candy in the box 8- place orange candy in the box Q: immediate next step? \u003cPRED\u003eA: Put the candy into the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the candy into the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the candy into the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: move the candies into the white tray, then put the spilled pistachios into the paper cup. Q: immediate next step? \u003cPRED\u003eA: Put the candy into the box\n\u003c/PRED\u003e","video":"15353021679832881729.mp4"}
+{"uid":"11336083636670985030","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the candy into the box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the candy into the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"176666995209896302.mp4"}
+{"uid":"15281790603489926118","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput blue pen in holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14453446201845594783.mp4"}
+{"uid":"7215851806124523761","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop orange candy into glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10720167926629087660.mp4"}
+{"uid":"12552318811463667606","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nopen the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1675764734627107627.mp4"}
+{"uid":"1021512205499010490","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: move the candies into the white tray, then put the spilled pistachios into the paper cup. last 20 steps: 1- place orange candy in the box 2- place orange candy in the box 3- place orange candy in the box 4- place orange candy in the box 5- place orange candy in the box 6- place orange candy in the box Q: next 5 steps? \u003cPRED\u003eA: 1- put the candy in the tray 2- place orange candy in the box 3- place orange candy in the box 4- put pistachio into the cup 5- put pistachio into the cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the candy in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: move the candies into the white tray, then put the spilled pistachios into the paper cup. Q: immediate next step? \u003cPRED\u003eA: put the candy in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the candy in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the candy in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: move the candies into the white tray, then put the spilled pistachios into the paper cup. last 20 steps: 1- place orange candy in the box 2- place orange candy in the box 3- place orange candy in the box 4- place orange candy in the box 5- place orange candy in the box 6- place orange candy in the box Q: immediate next step? \u003cPRED\u003eA: put the candy in the tray\n\u003c/PRED\u003e","video":"9920175016076285980.mp4"}
+{"uid":"15894795037360841080","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: move the candies into the white tray, then put the spilled pistachios into the paper cup. last 20 steps: 1- place orange candy in the box 2- place orange candy in the box 3- place orange candy in the box 4- place orange candy in the box 5- place orange candy in the box 6- place orange candy in the box 7- place orange candy in the box 8- place orange candy in the box 9- place orange candy in the box 10- put pistachio into the cup 11- put pistachio into the cup Q: immediate next step? \u003cPRED\u003eA: put pistachio in the cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: move the candies into the white tray, then put the spilled pistachios into the paper cup. Q: immediate next step? \u003cPRED\u003eA: put pistachio in the cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put pistachio in the cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put pistachio in the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput pistachio in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: move the candies into the white tray, then put the spilled pistachios into the paper cup. last 20 steps: 1- place orange candy in the box 2- place orange candy in the box 3- place orange candy in the box 4- place orange candy in the box 5- place orange candy in the box 6- place orange candy in the box 7- place orange candy in the box 8- place orange candy in the box 9- place orange candy in the box 10- put pistachio into the cup 11- put pistachio into the cup Q: next 5 steps? \u003cPRED\u003eA: 1- put pistachio in the cup 2- put pistachio into the cup 3- put pistachio into the cup 4- put a pista into the cup 5- put pistachio into the cup\n\u003c/PRED\u003e","video":"13361401917813992802.mp4"}
+{"uid":"14645413330714301773","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: my desk is dirty can you clean up the toy and put it in the basket Q: immediate next step? \u003cPRED\u003eA: put toy in the basket\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput toy in the basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put toy in the basket\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put toy in the basket\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: my desk is dirty can you clean up the toy and put it in the basket. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put toy in the basket 2- put toy in the basket 3- put ball in the basket 4- put toy in the basket 5- put cube in the basket\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: my desk is dirty can you clean up the toy and put it in the basket. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put toy in the basket\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput toy in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5361028073816802407.mp4"}
+{"uid":"2781942470915734533","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace pistachio nut into glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17946701484967679490.mp4"}
+{"uid":"13652060039316031295","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the candy in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the candy in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: move the candies into the white tray, then put the spilled pistachios into the paper cup. Q: immediate next step? \u003cPRED\u003eA: put the candy in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the candy in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: move the candies into the white tray, then put the spilled pistachios into the paper cup. last 20 steps: 1- place orange candy in the box 2- place orange candy in the box 3- place orange candy in the box 4- place orange candy in the box 5- place orange candy in the box 6- place orange candy in the box 7- place orange candy in the box 8- place orange candy in the box Q: immediate next step? \u003cPRED\u003eA: put the candy in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: move the candies into the white tray, then put the spilled pistachios into the paper cup. last 20 steps: 1- place orange candy in the box 2- place orange candy in the box 3- place orange candy in the box 4- place orange candy in the box 5- place orange candy in the box 6- place orange candy in the box 7- place orange candy in the box 8- place orange candy in the box Q: next 5 steps? \u003cPRED\u003eA: 1- put the candy in the tray 2- put pistachio into the cup 3- put pistachio into the cup 4- put pistachio into the cup 5- put pistachio into the cup\n\u003c/PRED\u003e","video":"6715787885729491860.mp4"}
+{"uid":"9354129380744023900","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the candy in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: move the candies into the white tray, then put the spilled pistachios into the paper cup. last 20 steps: 1- place orange candy in the box 2- place orange candy in the box Q: next 5 steps? \u003cPRED\u003eA: 1- put the candy in the tray 2- place orange candy in the box 3- place orange candy in the box 4- place orange candy in the box 5- place orange candy in the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: move the candies into the white tray, then put the spilled pistachios into the paper cup. last 20 steps: 1- place orange candy in the box 2- place orange candy in the box Q: immediate next step? \u003cPRED\u003eA: put the candy in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: move the candies into the white tray, then put the spilled pistachios into the paper cup. Q: immediate next step? \u003cPRED\u003eA: put the candy in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the candy in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the candy in the tray\n\u003c/PRED\u003e","video":"10412344530083304902.mp4"}
+{"uid":"14371775206699594255","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put a pista into the cup\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput a pista into the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11805638189409274829.mp4"}
+{"uid":"765872539545357491","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up the packet Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8207575975728453750.mp4"}
+{"uid":"10877402054593669507","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nopen the right side  wardrobe  door Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11739805337337065130.mp4"}
+{"uid":"6029024343375724021","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace blue packet from tray to counter Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2596296271142426792.mp4"}
+{"uid":"11883538514375497876","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the blue packet in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9359579686730714105.mp4"}
+{"uid":"7290591134683156305","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut blue chip bag into the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8717859861155175191.mp4"}
+{"uid":"3752357648024525752","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put a pista into the cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: move the candies into the white tray, then put the spilled pistachios into the paper cup. last 20 steps: 1- place orange candy in the box 2- place orange candy in the box 3- place orange candy in the box 4- place orange candy in the box 5- place orange candy in the box 6- place orange candy in the box 7- place orange candy in the box 8- place orange candy in the box 9- place orange candy in the box 10- put pistachio into the cup 11- put pistachio into the cup 12- put pistachio into the cup 13- put pistachio into the cup Q: next 5 steps? \u003cPRED\u003eA: 1- put a pista into the cup 2- put a pista into the cup 3- put pistachio into the cup 4- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: move the candies into the white tray, then put the spilled pistachios into the paper cup. Q: immediate next step? \u003cPRED\u003eA: put a pista into the cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: move the candies into the white tray, then put the spilled pistachios into the paper cup. last 20 steps: 1- place orange candy in the box 2- place orange candy in the box 3- place orange candy in the box 4- place orange candy in the box 5- place orange candy in the box 6- place orange candy in the box 7- place orange candy in the box 8- place orange candy in the box 9- place orange candy in the box 10- put pistachio into the cup 11- put pistachio into the cup 12- put pistachio into the cup 13- put pistachio into the cup Q: immediate next step? \u003cPRED\u003eA: put a pista into the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput a pista into the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put a pista into the cup\n\u003c/PRED\u003e","video":"2159992915858619563.mp4"}
+{"uid":"15877569600245107414","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the nacho packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16964441740916270603.mp4"}
+{"uid":"593621995011217127","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the blue marker on the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18411944356622674874.mp4"}
+{"uid":"4327436048673880554","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put pistachio into the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput pistachio into the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: move the candies into the white tray, then put the spilled pistachios into the paper cup. last 20 steps: 1- place orange candy in the box 2- place orange candy in the box 3- place orange candy in the box 4- place orange candy in the box 5- place orange candy in the box 6- place orange candy in the box 7- place orange candy in the box 8- place orange candy in the box 9- place orange candy in the box 10- put pistachio into the cup 11- put pistachio into the cup 12- put pistachio into the cup Q: immediate next step? \u003cPRED\u003eA: put pistachio into the cup\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput pistachio into the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: move the candies into the white tray, then put the spilled pistachios into the paper cup. Q: immediate next step? \u003cPRED\u003eA: put pistachio into the cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: move the candies into the white tray, then put the spilled pistachios into the paper cup. last 20 steps: 1- place orange candy in the box 2- place orange candy in the box 3- place orange candy in the box 4- place orange candy in the box 5- place orange candy in the box 6- place orange candy in the box 7- place orange candy in the box 8- place orange candy in the box 9- place orange candy in the box 10- put pistachio into the cup 11- put pistachio into the cup 12- put pistachio into the cup Q: next 5 steps? \u003cPRED\u003eA: 1- put pistachio into the cup 2- put pistachio into the cup 3- put a pista into the cup 4- put pistachio into the cup 5- done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put pistachio into the cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put pistachio into the cup\n\u003c/PRED\u003e","video":"3196221882251418802.mp4"}
+{"uid":"14706951367334392558","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the plastic fork into the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14108129114779992310.mp4"}
+{"uid":"13028870016475963208","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: move the candies into the white tray, then put the spilled pistachios into the paper cup. Q: immediate next step? \u003cPRED\u003eA: place orange candy in the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place orange candy in the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place orange candy in the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: move the candies into the white tray, then put the spilled pistachios into the paper cup. last 20 steps: 1- place orange candy in the box Q: immediate next step? \u003cPRED\u003eA: place orange candy in the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: move the candies into the white tray, then put the spilled pistachios into the paper cup. last 20 steps: 1- place orange candy in the box Q: next 5 steps? \u003cPRED\u003eA: 1- place orange candy in the box 2- place orange candy in the box 3- place orange candy in the box 4- place orange candy in the box 5- place orange candy in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace orange candy in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3818052384340747966.mp4"}
+{"uid":"3966060474454645716","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the marker in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15045530118293451931.mp4"}
+{"uid":"7487229984260878297","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place orange candy in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace orange candy in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: move the candies into the white tray, then put the spilled pistachios into the paper cup. last 20 steps: 1- place orange candy in the box 2- place orange candy in the box 3- place orange candy in the box 4- place orange candy in the box 5- place orange candy in the box 6- place orange candy in the box 7- place orange candy in the box Q: next 5 steps? \u003cPRED\u003eA: 1- place orange candy in the box 2- place orange candy in the box 3- put pistachio into the cup 4- put pistachio into the cup 5- put pistachio into the cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place orange candy in the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: move the candies into the white tray, then put the spilled pistachios into the paper cup. Q: immediate next step? \u003cPRED\u003eA: place orange candy in the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: move the candies into the white tray, then put the spilled pistachios into the paper cup. last 20 steps: 1- place orange candy in the box 2- place orange candy in the box 3- place orange candy in the box 4- place orange candy in the box 5- place orange candy in the box 6- place orange candy in the box 7- place orange candy in the box Q: immediate next step? \u003cPRED\u003eA: place orange candy in the box\n\u003c/PRED\u003e","video":"3407415856818265684.mp4"}
+{"uid":"7074891597987365998","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the orange in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1288243822187596610.mp4"}
+{"uid":"10531525124959188021","text":"\u003ctask:success:discrete:True\u003e\nPut the candy into the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the candy into the box\n\u003c/PRED\u003e","video":"7369289277432866950.mp4"}
+{"uid":"1108500168440423959","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put pistachio in the cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: move the candies into the white tray, then put the spilled pistachios into the paper cup. last 20 steps: 1- place orange candy in the box 2- place orange candy in the box 3- place orange candy in the box 4- place orange candy in the box 5- place orange candy in the box 6- place orange candy in the box 7- place orange candy in the box 8- place orange candy in the box 9- place orange candy in the box 10- put pistachio into the cup 11- put pistachio into the cup 12- put pistachio into the cup 13- put pistachio into the cup 14- put pistachio into the cup 15- put a pista into the cup Q: next 5 steps? \u003cPRED\u003eA: 1- put pistachio in the cup 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put pistachio in the cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: move the candies into the white tray, then put the spilled pistachios into the paper cup. Q: immediate next step? \u003cPRED\u003eA: put pistachio in the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput pistachio in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: move the candies into the white tray, then put the spilled pistachios into the paper cup. last 20 steps: 1- place orange candy in the box 2- place orange candy in the box 3- place orange candy in the box 4- place orange candy in the box 5- place orange candy in the box 6- place orange candy in the box 7- place orange candy in the box 8- place orange candy in the box 9- place orange candy in the box 10- put pistachio into the cup 11- put pistachio into the cup 12- put pistachio into the cup 13- put pistachio into the cup 14- put pistachio into the cup 15- put a pista into the cup Q: immediate next step? \u003cPRED\u003eA: put pistachio in the cup\n\u003c/PRED\u003e","video":"14041713530267473565.mp4"}
+{"uid":"8637430608209742706","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the candy into the box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the candy into the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16564582011624062845.mp4"}
+{"uid":"14832486076586608651","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12729934989739709685.mp4"}
+{"uid":"17524924750297746877","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the candy in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the candy in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the candy in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: move the candies into the white tray, then put the spilled pistachios into the paper cup. Q: immediate next step? \u003cPRED\u003eA: put the candy in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: move the candies into the white tray, then put the spilled pistachios into the paper cup. last 20 steps: 1- place orange candy in the box 2- place orange candy in the box 3- place orange candy in the box Q: immediate next step? \u003cPRED\u003eA: put the candy in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: move the candies into the white tray, then put the spilled pistachios into the paper cup. last 20 steps: 1- place orange candy in the box 2- place orange candy in the box 3- place orange candy in the box Q: next 5 steps? \u003cPRED\u003eA: 1- put the candy in the tray 2- place orange candy in the box 3- place orange candy in the box 4- place orange candy in the box 5- place orange candy in the box\n\u003c/PRED\u003e","video":"11564810961898642398.mp4"}
+{"uid":"16368505389554033994","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the spoon in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"730575131460631330.mp4"}
+{"uid":"9048048730373074648","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput yellow packet on the left side of table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6878770244431773497.mp4"}
+{"uid":"16443489615704289179","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the candy into the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: move the candies into the white tray, then put the spilled pistachios into the paper cup. last 20 steps: 1- place orange candy in the box 2- place orange candy in the box 3- place orange candy in the box 4- place orange candy in the box 5- place orange candy in the box 6- place orange candy in the box 7- place orange candy in the box Q: next 5 steps? \u003cPRED\u003eA: 1- Put the candy into the box 2- put pistachio into the cup 3- put pistachio into the cup 4- put pistachio into the cup 5- put pistachio into the cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: move the candies into the white tray, then put the spilled pistachios into the paper cup. last 20 steps: 1- place orange candy in the box 2- place orange candy in the box 3- place orange candy in the box 4- place orange candy in the box 5- place orange candy in the box 6- place orange candy in the box 7- place orange candy in the box Q: immediate next step? \u003cPRED\u003eA: Put the candy into the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the candy into the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: move the candies into the white tray, then put the spilled pistachios into the paper cup. Q: immediate next step? \u003cPRED\u003eA: Put the candy into the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the candy into the box\n\u003c/PRED\u003e","video":"3095313459960502515.mp4"}
+{"uid":"16430430954818146366","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick can from the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13943301405071118211.mp4"}
+{"uid":"15503986485515122435","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the candy in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: move the candies into the white tray, then put the spilled pistachios into the paper cup. last 20 steps: 1- place orange candy in the box 2- place orange candy in the box 3- place orange candy in the box 4- place orange candy in the box 5- place orange candy in the box Q: next 5 steps? \u003cPRED\u003eA: 1- put the candy in the tray 2- place orange candy in the box 3- place orange candy in the box 4- place orange candy in the box 5- put pistachio into the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the candy in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the candy in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the candy in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: move the candies into the white tray, then put the spilled pistachios into the paper cup. last 20 steps: 1- place orange candy in the box 2- place orange candy in the box 3- place orange candy in the box 4- place orange candy in the box 5- place orange candy in the box Q: immediate next step? \u003cPRED\u003eA: put the candy in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: move the candies into the white tray, then put the spilled pistachios into the paper cup. Q: immediate next step? \u003cPRED\u003eA: put the candy in the tray\n\u003c/PRED\u003e","video":"18414357390155236229.mp4"}
+{"uid":"4335665704041621421","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: move the candies into the white tray, then put the spilled pistachios into the paper cup. last 20 steps: 1- place orange candy in the box 2- place orange candy in the box 3- place orange candy in the box 4- place orange candy in the box 5- place orange candy in the box 6- place orange candy in the box 7- place orange candy in the box 8- place orange candy in the box 9- place orange candy in the box 10- put pistachio into the cup 11- put pistachio into the cup Q: next 5 steps? \u003cPRED\u003eA: 1- put a pista into the cup 2- put pistachio into the cup 3- put a pista into the cup 4- put pistachio into the cup 5- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put a pista into the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput a pista into the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: move the candies into the white tray, then put the spilled pistachios into the paper cup. Q: immediate next step? \u003cPRED\u003eA: put a pista into the cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: move the candies into the white tray, then put the spilled pistachios into the paper cup. last 20 steps: 1- place orange candy in the box 2- place orange candy in the box 3- place orange candy in the box 4- place orange candy in the box 5- place orange candy in the box 6- place orange candy in the box 7- place orange candy in the box 8- place orange candy in the box 9- place orange candy in the box 10- put pistachio into the cup 11- put pistachio into the cup Q: immediate next step? \u003cPRED\u003eA: put a pista into the cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put a pista into the cup\n\u003c/PRED\u003e","video":"1987606711110293496.mp4"}
+{"uid":"7857724908184149954","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put pistachio into the cup\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput pistachio into the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: move the candies into the white tray, then put the spilled pistachios into the paper cup. last 20 steps: 1- place orange candy in the box 2- place orange candy in the box 3- place orange candy in the box 4- place orange candy in the box 5- place orange candy in the box 6- place orange candy in the box 7- place orange candy in the box 8- place orange candy in the box 9- place orange candy in the box 10- put pistachio into the cup 11- put pistachio into the cup 12- put pistachio into the cup 13- put pistachio into the cup 14- put pistachio into the cup 15- put pistachio into the cup Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: move the candies into the white tray, then put the spilled pistachios into the paper cup. last 20 steps: 1- place orange candy in the box 2- place orange candy in the box 3- place orange candy in the box 4- place orange candy in the box 5- place orange candy in the box 6- place orange candy in the box 7- place orange candy in the box 8- place orange candy in the box 9- place orange candy in the box 10- put pistachio into the cup 11- put pistachio into the cup 12- put pistachio into the cup 13- put pistachio into the cup 14- put pistachio into the cup 15- put pistachio into the cup Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: move the candies into the white tray, then put the spilled pistachios into the paper cup. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"3182409781807661700.mp4"}
+{"uid":"10509752619178638511","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: move the candies into the white tray, then put the spilled pistachios into the paper cup. last 20 steps: 1- place orange candy in the box Q: next 5 steps? \u003cPRED\u003eA: 1- Put the candy into the box 2- place orange candy in the box 3- place orange candy in the box 4- place orange candy in the box 5- place orange candy in the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the candy into the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: move the candies into the white tray, then put the spilled pistachios into the paper cup. Q: immediate next step? \u003cPRED\u003eA: Put the candy into the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the candy into the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: move the candies into the white tray, then put the spilled pistachios into the paper cup. last 20 steps: 1- place orange candy in the box Q: immediate next step? \u003cPRED\u003eA: Put the candy into the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the candy into the box\n\u003c/PRED\u003e","video":"9139788018468228397.mp4"}
+{"uid":"15182690059671015299","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: move the candies into the white tray, then put the spilled pistachios into the paper cup. last 20 steps: 1- place orange candy in the box 2- place orange candy in the box 3- place orange candy in the box 4- place orange candy in the box 5- place orange candy in the box 6- place orange candy in the box 7- place orange candy in the box 8- place orange candy in the box 9- place orange candy in the box 10- put pistachio into the cup 11- put pistachio into the cup 12- put pistachio into the cup 13- put pistachio into the cup Q: immediate next step? \u003cPRED\u003eA: put pistachio into the cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: move the candies into the white tray, then put the spilled pistachios into the paper cup. last 20 steps: 1- place orange candy in the box 2- place orange candy in the box 3- place orange candy in the box 4- place orange candy in the box 5- place orange candy in the box 6- place orange candy in the box 7- place orange candy in the box 8- place orange candy in the box 9- place orange candy in the box 10- put pistachio into the cup 11- put pistachio into the cup 12- put pistachio into the cup 13- put pistachio into the cup Q: next 5 steps? \u003cPRED\u003eA: 1- put pistachio into the cup 2- put a pista into the cup 3- put pistachio into the cup 4- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put pistachio into the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput pistachio into the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put pistachio into the cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: move the candies into the white tray, then put the spilled pistachios into the paper cup. Q: immediate next step? \u003cPRED\u003eA: put pistachio into the cup\n\u003c/PRED\u003e","video":"13151949895394028182.mp4"}
+{"uid":"14435780357850512936","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nGo to the green glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7719451851956700779.mp4"}
+{"uid":"174082531237854263","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the white packet in the right bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4764105759726728949.mp4"}
+{"uid":"14457185875273881174","text":"\u003ctask:success:discrete:True\u003e\nput a pista into the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put a pista into the cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: move the candies into the white tray, then put the spilled pistachios into the paper cup. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: move the candies into the white tray, then put the spilled pistachios into the paper cup. last 20 steps: 1- place orange candy in the box 2- place orange candy in the box 3- place orange candy in the box 4- place orange candy in the box 5- place orange candy in the box 6- place orange candy in the box 7- place orange candy in the box 8- place orange candy in the box 9- place orange candy in the box 10- put pistachio into the cup 11- put pistachio into the cup 12- put pistachio into the cup 13- put pistachio into the cup 14- put pistachio into the cup 15- put a pista into the cup 16- put a pista into the cup Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: move the candies into the white tray, then put the spilled pistachios into the paper cup. last 20 steps: 1- place orange candy in the box 2- place orange candy in the box 3- place orange candy in the box 4- place orange candy in the box 5- place orange candy in the box 6- place orange candy in the box 7- place orange candy in the box 8- place orange candy in the box 9- place orange candy in the box 10- put pistachio into the cup 11- put pistachio into the cup 12- put pistachio into the cup 13- put pistachio into the cup 14- put pistachio into the cup 15- put a pista into the cup 16- put a pista into the cup Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"9326289412444917276.mp4"}
+{"uid":"17042249530123837093","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put toy in the basket\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: my desk is dirty can you clean up the toy and put it in the basket Q: immediate next step? \u003cPRED\u003eA: put toy in the basket\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: my desk is dirty can you clean up the toy and put it in the basket. last 20 steps: 1- put toy in the basket 2- put toy in the basket 3- put ball in the basket 4- put toy in the basket 5- put cube in the basket 6- put toy in the basket 7- put toy in the basket Q: immediate next step? \u003cPRED\u003eA: put toy in the basket\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: my desk is dirty can you clean up the toy and put it in the basket. last 20 steps: 1- put toy in the basket 2- put toy in the basket 3- put ball in the basket 4- put toy in the basket 5- put cube in the basket 6- put toy in the basket 7- put toy in the basket Q: next 5 steps? \u003cPRED\u003eA: 1- put toy in the basket 2- put toy in the basket 3- put toy in the basket 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put toy in the basket\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput toy in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12897674087302190085.mp4"}
+{"uid":"1422381931160681659","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: my desk is dirty can you clean up the toy and put it in the basket. last 20 steps: 1- put toy in the basket 2- put toy in the basket 3- put ball in the basket Q: immediate next step? \u003cPRED\u003eA: put toy in the basket\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: my desk is dirty can you clean up the toy and put it in the basket. last 20 steps: 1- put toy in the basket 2- put toy in the basket 3- put ball in the basket Q: next 5 steps? \u003cPRED\u003eA: 1- put toy in the basket 2- put cube in the basket 3- put toy in the basket 4- put toy in the basket 5- put toy in the basket\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput toy in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput toy in the basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: my desk is dirty can you clean up the toy and put it in the basket Q: immediate next step? \u003cPRED\u003eA: put toy in the basket\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put toy in the basket\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put toy in the basket\n\u003c/PRED\u003e","video":"1319217896512693645.mp4"}
+{"uid":"16359649189105385540","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put pistachio into the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput pistachio into the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: move the candies into the white tray, then put the spilled pistachios into the paper cup. last 20 steps: 1- place orange candy in the box 2- place orange candy in the box 3- place orange candy in the box 4- place orange candy in the box 5- place orange candy in the box 6- place orange candy in the box 7- place orange candy in the box 8- place orange candy in the box 9- place orange candy in the box 10- put pistachio into the cup Q: immediate next step? \u003cPRED\u003eA: put pistachio into the cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put pistachio into the cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: move the candies into the white tray, then put the spilled pistachios into the paper cup. Q: immediate next step? \u003cPRED\u003eA: put pistachio into the cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: move the candies into the white tray, then put the spilled pistachios into the paper cup. last 20 steps: 1- place orange candy in the box 2- place orange candy in the box 3- place orange candy in the box 4- place orange candy in the box 5- place orange candy in the box 6- place orange candy in the box 7- place orange candy in the box 8- place orange candy in the box 9- place orange candy in the box 10- put pistachio into the cup Q: next 5 steps? \u003cPRED\u003eA: 1- put pistachio into the cup 2- put pistachio into the cup 3- put pistachio into the cup 4- put pistachio into the cup 5- put a pista into the cup\n\u003c/PRED\u003e","video":"16044216662022430596.mp4"}
+{"uid":"3184607281620395720","text":"\u003ctask:success:discrete:True\u003e\nput pistachio into the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put pistachio into the cup\n\u003c/PRED\u003e","video":"11719347553422308928.mp4"}
+{"uid":"2198384046148738308","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the pen on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4260381798800435281.mp4"}
+{"uid":"12309937527598247620","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up the white box from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3271688914373111859.mp4"}
+{"uid":"12998129226010762134","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the candy in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the candy in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7542216639734458340.mp4"}
+{"uid":"4063372197803129294","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put cube in the basket\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put cube in the basket\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: my desk is dirty can you clean up the toy and put it in the basket Q: immediate next step? \u003cPRED\u003eA: put cube in the basket\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput cube in the basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: my desk is dirty can you clean up the toy and put it in the basket. last 20 steps: 1- put toy in the basket 2- put toy in the basket 3- put ball in the basket 4- put toy in the basket Q: immediate next step? \u003cPRED\u003eA: put cube in the basket\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput cube in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: my desk is dirty can you clean up the toy and put it in the basket. last 20 steps: 1- put toy in the basket 2- put toy in the basket 3- put ball in the basket 4- put toy in the basket Q: next 5 steps? \u003cPRED\u003eA: 1- put cube in the basket 2- put toy in the basket 3- put toy in the basket 4- put toy in the basket 5- put toy in the basket\n\u003c/PRED\u003e","video":"13944423053153711325.mp4"}
+{"uid":"7031482565740140908","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place orange candy in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace orange candy in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2188088315934677599.mp4"}
+{"uid":"11139550609176631400","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput toy in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: my desk is dirty can you clean up the toy and put it in the basket. last 20 steps: 1- put toy in the basket Q: immediate next step? \u003cPRED\u003eA: put toy in the basket\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put toy in the basket\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: my desk is dirty can you clean up the toy and put it in the basket Q: immediate next step? \u003cPRED\u003eA: put toy in the basket\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: my desk is dirty can you clean up the toy and put it in the basket. last 20 steps: 1- put toy in the basket Q: next 5 steps? \u003cPRED\u003eA: 1- put toy in the basket 2- put ball in the basket 3- put toy in the basket 4- put cube in the basket 5- put toy in the basket\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put toy in the basket\n\u003c/PRED\u003e","video":"13765749466812506844.mp4"}
+{"uid":"5238969166094139138","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: move the candies into the white tray, then put the spilled pistachios into the paper cup. last 20 steps: 1- place orange candy in the box 2- place orange candy in the box 3- place orange candy in the box 4- place orange candy in the box 5- place orange candy in the box 6- place orange candy in the box 7- place orange candy in the box 8- place orange candy in the box 9- place orange candy in the box 10- put pistachio into the cup 11- put pistachio into the cup 12- put pistachio into the cup 13- put pistachio into the cup 14- put pistachio into the cup Q: next 5 steps? \u003cPRED\u003eA: 1- put a pista into the cup 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput a pista into the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: move the candies into the white tray, then put the spilled pistachios into the paper cup. Q: immediate next step? \u003cPRED\u003eA: put a pista into the cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: move the candies into the white tray, then put the spilled pistachios into the paper cup. last 20 steps: 1- place orange candy in the box 2- place orange candy in the box 3- place orange candy in the box 4- place orange candy in the box 5- place orange candy in the box 6- place orange candy in the box 7- place orange candy in the box 8- place orange candy in the box 9- place orange candy in the box 10- put pistachio into the cup 11- put pistachio into the cup 12- put pistachio into the cup 13- put pistachio into the cup 14- put pistachio into the cup Q: immediate next step? \u003cPRED\u003eA: put a pista into the cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put a pista into the cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put a pista into the cup\n\u003c/PRED\u003e","video":"9366362442017032378.mp4"}
+{"uid":"12832641136327234915","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: move the candies into the white tray, then put the spilled pistachios into the paper cup. last 20 steps: 1- place orange candy in the box 2- place orange candy in the box 3- place orange candy in the box 4- place orange candy in the box 5- place orange candy in the box 6- place orange candy in the box 7- place orange candy in the box 8- place orange candy in the box 9- place orange candy in the box 10- put pistachio into the cup 11- put pistachio into the cup 12- put pistachio into the cup 13- put pistachio into the cup 14- put pistachio into the cup Q: next 5 steps? \u003cPRED\u003eA: 1- put pistachio in the cup 2- put pistachio into the cup 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput pistachio in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: move the candies into the white tray, then put the spilled pistachios into the paper cup. last 20 steps: 1- place orange candy in the box 2- place orange candy in the box 3- place orange candy in the box 4- place orange candy in the box 5- place orange candy in the box 6- place orange candy in the box 7- place orange candy in the box 8- place orange candy in the box 9- place orange candy in the box 10- put pistachio into the cup 11- put pistachio into the cup 12- put pistachio into the cup 13- put pistachio into the cup 14- put pistachio into the cup Q: immediate next step? \u003cPRED\u003eA: put pistachio in the cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put pistachio in the cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput pistachio in the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: move the candies into the white tray, then put the spilled pistachios into the paper cup. Q: immediate next step? \u003cPRED\u003eA: put pistachio in the cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put pistachio in the cup\n\u003c/PRED\u003e","video":"15195028632681583851.mp4"}
+{"uid":"17885347689559334680","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put pistachio into the cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput pistachio into the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: move the candies into the white tray, then put the spilled pistachios into the paper cup. last 20 steps: 1- place orange candy in the box 2- place orange candy in the box 3- place orange candy in the box 4- place orange candy in the box 5- place orange candy in the box 6- place orange candy in the box 7- place orange candy in the box 8- place orange candy in the box 9- place orange candy in the box Q: next 5 steps? \u003cPRED\u003eA: 1- put pistachio into the cup 2- put pistachio into the cup 3- put pistachio into the cup 4- put pistachio into the cup 5- put pistachio into the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput pistachio into the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: move the candies into the white tray, then put the spilled pistachios into the paper cup. last 20 steps: 1- place orange candy in the box 2- place orange candy in the box 3- place orange candy in the box 4- place orange candy in the box 5- place orange candy in the box 6- place orange candy in the box 7- place orange candy in the box 8- place orange candy in the box 9- place orange candy in the box Q: immediate next step? \u003cPRED\u003eA: put pistachio into the cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put pistachio into the cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: move the candies into the white tray, then put the spilled pistachios into the paper cup. Q: immediate next step? \u003cPRED\u003eA: put pistachio into the cup\n\u003c/PRED\u003e","video":"5477408508001853372.mp4"}
+{"uid":"13689248339561118249","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace a pink candy in right white bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8733979934355720206.mp4"}
+{"uid":"10623536354558170650","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: move the candies into the white tray, then put the spilled pistachios into the paper cup. last 20 steps: 1- place orange candy in the box 2- place orange candy in the box Q: immediate next step? \u003cPRED\u003eA: Put the candy into the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the candy into the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: move the candies into the white tray, then put the spilled pistachios into the paper cup. Q: immediate next step? \u003cPRED\u003eA: Put the candy into the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the candy into the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: move the candies into the white tray, then put the spilled pistachios into the paper cup. last 20 steps: 1- place orange candy in the box 2- place orange candy in the box Q: next 5 steps? \u003cPRED\u003eA: 1- Put the candy into the box 2- place orange candy in the box 3- place orange candy in the box 4- place orange candy in the box 5- place orange candy in the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the candy into the box\n\u003c/PRED\u003e","video":"4989839309970929013.mp4"}
+{"uid":"15636127068102639527","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11464357182233682109.mp4"}
+{"uid":"16635714799927407290","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the note book in the trolley Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15049775519046901116.mp4"}
+{"uid":"11060485707281428899","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the pen in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12417393124592591924.mp4"}
+{"uid":"11856903399719392934","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the candy into the box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the candy into the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17456853778528054664.mp4"}
+{"uid":"1493192627237246994","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop chocolate ball on paper cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10278257676328745328.mp4"}
+{"uid":"14200023170467808821","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput spoons in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1311886202642506291.mp4"}
+{"uid":"16718521617920446004","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: my desk is dirty can you clean up the toy and put it in the basket Q: immediate next step? \u003cPRED\u003eA: put ball in the basket\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: my desk is dirty can you clean up the toy and put it in the basket. last 20 steps: 1- put toy in the basket 2- put toy in the basket Q: next 5 steps? \u003cPRED\u003eA: 1- put ball in the basket 2- put toy in the basket 3- put cube in the basket 4- put toy in the basket 5- put toy in the basket\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput ball in the basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: my desk is dirty can you clean up the toy and put it in the basket. last 20 steps: 1- put toy in the basket 2- put toy in the basket Q: immediate next step? \u003cPRED\u003eA: put ball in the basket\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put ball in the basket\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put ball in the basket\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput ball in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18353223962690800262.mp4"}
+{"uid":"4518364389632677010","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: my desk is dirty can you clean up the toy and put it in the basket. last 20 steps: 1- put toy in the basket 2- put toy in the basket 3- put ball in the basket 4- put toy in the basket 5- put cube in the basket 6- put toy in the basket Q: immediate next step? \u003cPRED\u003eA: put toy in the basket\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put toy in the basket\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: my desk is dirty can you clean up the toy and put it in the basket. last 20 steps: 1- put toy in the basket 2- put toy in the basket 3- put ball in the basket 4- put toy in the basket 5- put cube in the basket 6- put toy in the basket Q: next 5 steps? \u003cPRED\u003eA: 1- put toy in the basket 2- put toy in the basket 3- put toy in the basket 4- put toy in the basket 5- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put toy in the basket\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput toy in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: my desk is dirty can you clean up the toy and put it in the basket Q: immediate next step? \u003cPRED\u003eA: put toy in the basket\n\u003c/PRED\u003e","video":"3476520197625924437.mp4"}
+{"uid":"16797597654062357779","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pen in the pen stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7402589510316734338.mp4"}
+{"uid":"10904398625506752983","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: move the candies into the white tray, then put the spilled pistachios into the paper cup. last 20 steps: 1- place orange candy in the box 2- place orange candy in the box 3- place orange candy in the box Q: immediate next step? \u003cPRED\u003eA: Put the candy into the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the candy into the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the candy into the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: move the candies into the white tray, then put the spilled pistachios into the paper cup. last 20 steps: 1- place orange candy in the box 2- place orange candy in the box 3- place orange candy in the box Q: next 5 steps? \u003cPRED\u003eA: 1- Put the candy into the box 2- place orange candy in the box 3- place orange candy in the box 4- place orange candy in the box 5- place orange candy in the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the candy into the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: move the candies into the white tray, then put the spilled pistachios into the paper cup. Q: immediate next step? \u003cPRED\u003eA: Put the candy into the box\n\u003c/PRED\u003e","video":"2316921181305999900.mp4"}
+{"uid":"11022986611144607903","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput packet on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10769809253675557749.mp4"}
+{"uid":"10036156071483602104","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop the bowel into box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11182568560426615071.mp4"}
+{"uid":"10582503893565012366","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the candy into the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: move the candies into the white tray, then put the spilled pistachios into the paper cup. Q: immediate next step? \u003cPRED\u003eA: Put the candy into the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the candy into the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: move the candies into the white tray, then put the spilled pistachios into the paper cup. last 20 steps: 1- place orange candy in the box 2- place orange candy in the box 3- place orange candy in the box 4- place orange candy in the box 5- place orange candy in the box 6- place orange candy in the box Q: immediate next step? \u003cPRED\u003eA: Put the candy into the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: move the candies into the white tray, then put the spilled pistachios into the paper cup. last 20 steps: 1- place orange candy in the box 2- place orange candy in the box 3- place orange candy in the box 4- place orange candy in the box 5- place orange candy in the box 6- place orange candy in the box Q: next 5 steps? \u003cPRED\u003eA: 1- Put the candy into the box 2- place orange candy in the box 3- put pistachio into the cup 4- put pistachio into the cup 5- put pistachio into the cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the candy into the box\n\u003c/PRED\u003e","video":"2098975511351874576.mp4"}
+{"uid":"16589463147287757770","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the plastic knives in the knives holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"23389446458906880.mp4"}
+{"uid":"2937365256986135631","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: move the candies into the white tray, then put the spilled pistachios into the paper cup. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place orange candy in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace orange candy in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place orange candy in the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: move the candies into the white tray, then put the spilled pistachios into the paper cup. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place orange candy in the box 2- place orange candy in the box 3- place orange candy in the box 4- place orange candy in the box 5- place orange candy in the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place orange candy in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace orange candy in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: move the candies into the white tray, then put the spilled pistachios into the paper cup. Q: immediate next step? \u003cPRED\u003eA: place orange candy in the box\n\u003c/PRED\u003e","video":"3128579573340831917.mp4"}
+{"uid":"8433616600833028355","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npull the tray outside Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8756626076919340802.mp4"}
+{"uid":"10418269213731539206","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the Pistachio in the paper glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10971433419846717442.mp4"}
+{"uid":"4005207221113962911","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pipcorn packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16363891280844464207.mp4"}
+{"uid":"17712701668917893002","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the green candy in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1118109119685055178.mp4"}
+{"uid":"8548293418474679340","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput a pista into the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put a pista into the cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: move the candies into the white tray, then put the spilled pistachios into the paper cup. last 20 steps: 1- place orange candy in the box 2- place orange candy in the box 3- place orange candy in the box 4- place orange candy in the box 5- place orange candy in the box 6- place orange candy in the box 7- place orange candy in the box 8- place orange candy in the box 9- place orange candy in the box 10- put pistachio into the cup 11- put pistachio into the cup 12- put pistachio into the cup 13- put pistachio into the cup 14- put pistachio into the cup 15- put a pista into the cup Q: immediate next step? \u003cPRED\u003eA: put a pista into the cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put a pista into the cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: move the candies into the white tray, then put the spilled pistachios into the paper cup. Q: immediate next step? \u003cPRED\u003eA: put a pista into the cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: move the candies into the white tray, then put the spilled pistachios into the paper cup. last 20 steps: 1- place orange candy in the box 2- place orange candy in the box 3- place orange candy in the box 4- place orange candy in the box 5- place orange candy in the box 6- place orange candy in the box 7- place orange candy in the box 8- place orange candy in the box 9- place orange candy in the box 10- put pistachio into the cup 11- put pistachio into the cup 12- put pistachio into the cup 13- put pistachio into the cup 14- put pistachio into the cup 15- put a pista into the cup Q: next 5 steps? \u003cPRED\u003eA: 1- put a pista into the cup 2- done\n\u003c/PRED\u003e","video":"7862304009536228007.mp4"}
+{"uid":"12906013372775201684","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: move the candies into the white tray, then put the spilled pistachios into the paper cup. Q: immediate next step? \u003cPRED\u003eA: put pistachio into the cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: move the candies into the white tray, then put the spilled pistachios into the paper cup. last 20 steps: 1- place orange candy in the box 2- place orange candy in the box 3- place orange candy in the box 4- place orange candy in the box 5- place orange candy in the box 6- place orange candy in the box 7- place orange candy in the box 8- place orange candy in the box 9- place orange candy in the box 10- put pistachio into the cup 11- put pistachio into the cup 12- put pistachio into the cup 13- put pistachio into the cup 14- put pistachio into the cup Q: immediate next step? \u003cPRED\u003eA: put pistachio into the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput pistachio into the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put pistachio into the cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: move the candies into the white tray, then put the spilled pistachios into the paper cup. last 20 steps: 1- place orange candy in the box 2- place orange candy in the box 3- place orange candy in the box 4- place orange candy in the box 5- place orange candy in the box 6- place orange candy in the box 7- place orange candy in the box 8- place orange candy in the box 9- place orange candy in the box 10- put pistachio into the cup 11- put pistachio into the cup 12- put pistachio into the cup 13- put pistachio into the cup 14- put pistachio into the cup Q: next 5 steps? \u003cPRED\u003eA: 1- put pistachio into the cup 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put pistachio into the cup\n\u003c/PRED\u003e","video":"2193504411745266296.mp4"}
+{"uid":"6275245738901922904","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: move the candies into the white tray, then put the spilled pistachios into the paper cup. Q: immediate next step? \u003cPRED\u003eA: put pistachio into the cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put pistachio into the cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: move the candies into the white tray, then put the spilled pistachios into the paper cup. last 20 steps: 1- place orange candy in the box 2- place orange candy in the box 3- place orange candy in the box 4- place orange candy in the box 5- place orange candy in the box 6- place orange candy in the box 7- place orange candy in the box 8- place orange candy in the box 9- place orange candy in the box 10- put pistachio into the cup 11- put pistachio into the cup Q: next 5 steps? \u003cPRED\u003eA: 1- put pistachio into the cup 2- put pistachio into the cup 3- put pistachio into the cup 4- put a pista into the cup 5- put pistachio into the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput pistachio into the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: move the candies into the white tray, then put the spilled pistachios into the paper cup. last 20 steps: 1- place orange candy in the box 2- place orange candy in the box 3- place orange candy in the box 4- place orange candy in the box 5- place orange candy in the box 6- place orange candy in the box 7- place orange candy in the box 8- place orange candy in the box 9- place orange candy in the box 10- put pistachio into the cup 11- put pistachio into the cup Q: immediate next step? \u003cPRED\u003eA: put pistachio into the cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put pistachio into the cup\n\u003c/PRED\u003e","video":"5054916178362409691.mp4"}
+{"uid":"5128138928195868510","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: move the candies into the white tray, then put the spilled pistachios into the paper cup. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Put the candy into the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: move the candies into the white tray, then put the spilled pistachios into the paper cup. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Put the candy into the box 2- place orange candy in the box 3- place orange candy in the box 4- place orange candy in the box 5- place orange candy in the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: move the candies into the white tray, then put the spilled pistachios into the paper cup. Q: immediate next step? \u003cPRED\u003eA: Put the candy into the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the candy into the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the candy into the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the candy into the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the candy into the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11140343370073492906.mp4"}
+{"uid":"11742197355851174820","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put a pista into the cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: move the candies into the white tray, then put the spilled pistachios into the paper cup. last 20 steps: 1- place orange candy in the box 2- place orange candy in the box 3- place orange candy in the box 4- place orange candy in the box 5- place orange candy in the box 6- place orange candy in the box 7- place orange candy in the box 8- place orange candy in the box 9- place orange candy in the box Q: immediate next step? \u003cPRED\u003eA: put a pista into the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput a pista into the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: move the candies into the white tray, then put the spilled pistachios into the paper cup. last 20 steps: 1- place orange candy in the box 2- place orange candy in the box 3- place orange candy in the box 4- place orange candy in the box 5- place orange candy in the box 6- place orange candy in the box 7- place orange candy in the box 8- place orange candy in the box 9- place orange candy in the box Q: next 5 steps? \u003cPRED\u003eA: 1- put a pista into the cup 2- put pistachio into the cup 3- put pistachio into the cup 4- put pistachio into the cup 5- put a pista into the cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put a pista into the cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: move the candies into the white tray, then put the spilled pistachios into the paper cup. Q: immediate next step? \u003cPRED\u003eA: put a pista into the cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput a pista into the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18137147489481826147.mp4"}
+{"uid":"13332884629288239404","text":"\u003ctask:success:discrete:True\u003e\nput pistachio in the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put pistachio in the cup\n\u003c/PRED\u003e","video":"7806175015651678503.mp4"}
+{"uid":"6295400990143527702","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the candy into the box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the candy into the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11414201754048754856.mp4"}
+{"uid":"7432355927270565236","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the brown box on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11133188994205916498.mp4"}
+{"uid":"13409596953377297303","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pistachio into the glass jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12302065604592501407.mp4"}
+{"uid":"3995325248066483516","text":"\u003ctask:success:discrete:True\u003e\nplace the packet on table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the packet on table\n\u003c/PRED\u003e","video":"13434517718593093455.mp4"}
+{"uid":"12672806980718854065","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nclose the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9632851427101069636.mp4"}
+{"uid":"8737523685901778368","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the packet on table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- place the pipcorn packet on the table 2- place the packet on table 3- place the packet on table 4- place the packet on table 5- place the packet on table 6- place the packet on table 7- place the packet on table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- place the pipcorn packet on the table 2- place the packet on table 3- place the packet on table 4- place the packet on table 5- place the packet on table 6- place the packet on table 7- place the packet on table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the packet on table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"9076391976661273920.mp4"}
+{"uid":"2981597272214920935","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop a peanut in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11771342283136040935.mp4"}
+{"uid":"17436733645613451043","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place orange packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- place the pipcorn packet on the table 2- place the packet on table 3- place the packet on table 4- place the packet on table Q: immediate next step? \u003cPRED\u003eA: place orange packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace orange packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace orange packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: place orange packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place orange packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- place the pipcorn packet on the table 2- place the packet on table 3- place the packet on table 4- place the packet on table Q: next 5 steps? \u003cPRED\u003eA: 1- place orange packet on the table 2- place orange packet on the table 3- place the packet on table 4- done\n\u003c/PRED\u003e","video":"17878003876901076008.mp4"}
+{"uid":"3211567799815491401","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3593714350912179149.mp4"}
+{"uid":"6049514272247503153","text":"\u003ctask:success:discrete:False\u003e\nPlace the popcorn packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: Place the popcorn packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Place the popcorn packet on the table 2- place the packet on table 3- place the packet on table 4- place the packet on table 5- place the packet on table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the popcorn packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the popcorn packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the popcorn packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Place the popcorn packet on the table\n\u003c/PRED\u003e","video":"3220236351447938622.mp4"}
+{"uid":"2603759390117312122","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput blue pen in stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8267370289205334493.mp4"}
+{"uid":"644635724065048802","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the pistachio into the paper glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4883997563533363943.mp4"}
+{"uid":"14605948950791417050","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput cup on coffee machine Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7170518048694846928.mp4"}
+{"uid":"13217574476977524630","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace a packet in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"243824809098588901.mp4"}
+{"uid":"16467247853505977993","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput a packet into carton Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8917655776540464878.mp4"}
+{"uid":"15855279268467082894","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the oatmeal packets into the tray Q: immediate next step? \u003cPRED\u003eA: place the packet in the basket\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal packets into the tray. last 20 steps: 1- place the packet in the basket 2- place the packet in the basket 3- place the packet in the basket 4- place the packet in the basket Q: immediate next step? \u003cPRED\u003eA: place the packet in the basket\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the packet in the basket\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the packet in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal packets into the tray. last 20 steps: 1- place the packet in the basket 2- place the packet in the basket 3- place the packet in the basket 4- place the packet in the basket Q: next 5 steps? \u003cPRED\u003eA: 1- place the packet in the basket 2- place the packet in the basket 3- place the packet in the basket 4- place the packet in the basket 5- place the packet in the basket\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the packet in the basket\n\u003c/PRED\u003e","video":"13569249103236831150.mp4"}
+{"uid":"5590933839953898998","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal packets into the tray. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place the packet in the basket 2- place the packet in the basket 3- place the packet in the basket 4- place the packet in the basket 5- place the packet in the basket\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal packets into the tray. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place the packet in the basket\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the packet in the basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the oatmeal packets into the tray Q: immediate next step? \u003cPRED\u003eA: place the packet in the basket\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the packet in the basket\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the packet in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the packet in the basket\n\u003c/PRED\u003e","video":"483549829573888139.mp4"}
+{"uid":"6289718817997057614","text":"\u003ctask:success:discrete:True\u003e\nplace the packet in the basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the packet in the basket\n\u003c/PRED\u003e","video":"8039582473616800358.mp4"}
+{"uid":"345828554289563154","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput apple on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"878177003432151931.mp4"}
+{"uid":"3865907959951394976","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the paper bowl on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8731309128786189296.mp4"}
+{"uid":"8693901841833546591","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the candy in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2613481184765762883.mp4"}
+{"uid":"4044124433649229530","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the packet in the basket\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the oatmeal packets into the tray Q: immediate next step? \u003cPRED\u003eA: place the packet in the basket\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal packets into the tray. last 20 steps: 1- place the packet in the basket 2- place the packet in the basket 3- place the packet in the basket 4- place the packet in the basket 5- place the packet in the basket 6- place the packet in the basket 7- place the packet in the basket 8- place the packet in the basket Q: next 5 steps? \u003cPRED\u003eA: 1- place the packet in the basket 2- place the packet in the basket 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the packet in the basket\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the packet in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal packets into the tray. last 20 steps: 1- place the packet in the basket 2- place the packet in the basket 3- place the packet in the basket 4- place the packet in the basket 5- place the packet in the basket 6- place the packet in the basket 7- place the packet in the basket 8- place the packet in the basket Q: immediate next step? \u003cPRED\u003eA: place the packet in the basket\n\u003c/PRED\u003e","video":"7008306074435185461.mp4"}
+{"uid":"2019424141325331857","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6637785797273671240.mp4"}
+{"uid":"9262422243587957735","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the marker in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12516490229773263561.mp4"}
+{"uid":"17822401017918435029","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput blue packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2655973859735610010.mp4"}
+{"uid":"13461031394777980886","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop sticky notes in a glass tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10704788318872494973.mp4"}
+{"uid":"5756624955932605232","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove arm downward Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16624600335633333523.mp4"}
+{"uid":"11604938396820345887","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop candy in tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7076463388078844719.mp4"}
+{"uid":"4808949922568464371","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- place the pipcorn packet on the table Q: immediate next step? \u003cPRED\u003eA: place the pipcorn packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the pipcorn packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: place the pipcorn packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the pipcorn packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the pipcorn packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- place the pipcorn packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the pipcorn packet on the table 2- place the packet on table 3- place the packet on table 4- place the packet on table 5- place orange packet on the table\n\u003c/PRED\u003e","video":"14937667365250991488.mp4"}
+{"uid":"6260730347297360269","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the packet on table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the packet on table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the packet on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place the packet on table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place the packet on table 2- place the packet on table 3- place the packet on table 4- place the packet on table 5- place the packet on table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: place the packet on table\n\u003c/PRED\u003e","video":"15430563032609333537.mp4"}
+{"uid":"3977823904051995570","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nTouch the file Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14345019609422104418.mp4"}
+{"uid":"18273565785110372101","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: place the pipcorn packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the pipcorn packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- place the pipcorn packet on the table 2- place the packet on table 3- place the packet on table Q: next 5 steps? \u003cPRED\u003eA: 1- place the pipcorn packet on the table 2- place the packet on table 3- place orange packet on the table 4- place the packet on table 5- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- place the pipcorn packet on the table 2- place the packet on table 3- place the packet on table Q: immediate next step? \u003cPRED\u003eA: place the pipcorn packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the pipcorn packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the pipcorn packet on the table\n\u003c/PRED\u003e","video":"9206227395487500279.mp4"}
+{"uid":"3321645646693899732","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- place the pipcorn packet on the table 2- place the packet on table 3- place the packet on table 4- place the packet on table 5- place the packet on table 6- place the packet on table 7- place orange packet on the table 8- place orange packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace orange packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place orange packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- place the pipcorn packet on the table 2- place the packet on table 3- place the packet on table 4- place the packet on table 5- place the packet on table 6- place the packet on table 7- place orange packet on the table 8- place orange packet on the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"10964510144717764688.mp4"}
+{"uid":"17810131992180676361","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- place the pipcorn packet on the table Q: immediate next step? \u003cPRED\u003eA: Place the popcorn packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- place the pipcorn packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Place the popcorn packet on the table 2- place the packet on table 3- place the packet on table 4- place the packet on table 5- place orange packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: Place the popcorn packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the popcorn packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the popcorn packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the popcorn packet on the table\n\u003c/PRED\u003e","video":"3710951532063174083.mp4"}
+{"uid":"299864249723335757","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the packet on table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: place the packet on table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the packet on table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- place the pipcorn packet on the table 2- place the packet on table 3- place the packet on table 4- place the packet on table Q: immediate next step? \u003cPRED\u003eA: place the packet on table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- place the pipcorn packet on the table 2- place the packet on table 3- place the packet on table 4- place the packet on table Q: next 5 steps? \u003cPRED\u003eA: 1- place the packet on table 2- place the packet on table 3- place orange packet on the table 4- place the packet on table 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the packet on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14655663770686274941.mp4"}
+{"uid":"9720436896359644254","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the pipcorn packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- place the pipcorn packet on the table 2- place the packet on table Q: next 5 steps? \u003cPRED\u003eA: 1- place the pipcorn packet on the table 2- place the packet on table 3- place the packet on table 4- place orange packet on the table 5- place the packet on table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the pipcorn packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: place the pipcorn packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the pipcorn packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- place the pipcorn packet on the table 2- place the packet on table Q: immediate next step? \u003cPRED\u003eA: place the pipcorn packet on the table\n\u003c/PRED\u003e","video":"9898114149399598750.mp4"}
+{"uid":"1830045666306662668","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the nacho packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the nacho packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- place the pipcorn packet on the table 2- place the packet on table 3- place the packet on table 4- place the packet on table 5- place the packet on table 6- place the packet on table Q: immediate next step? \u003cPRED\u003eA: Place the nacho packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: Place the nacho packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- place the pipcorn packet on the table 2- place the packet on table 3- place the packet on table 4- place the packet on table 5- place the packet on table 6- place the packet on table Q: next 5 steps? \u003cPRED\u003eA: 1- Place the nacho packet on the table 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the nacho packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15533387710537725504.mp4"}
+{"uid":"7476749714344034028","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the packet on table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: place the packet on table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- place the pipcorn packet on the table 2- place the packet on table 3- place the packet on table 4- place the packet on table 5- place the packet on table 6- place the packet on table Q: next 5 steps? \u003cPRED\u003eA: 1- place the packet on table 2- place the packet on table 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the packet on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the packet on table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- place the pipcorn packet on the table 2- place the packet on table 3- place the packet on table 4- place the packet on table 5- place the packet on table 6- place the packet on table Q: immediate next step? \u003cPRED\u003eA: place the packet on table\n\u003c/PRED\u003e","video":"6582271845038063894.mp4"}
+{"uid":"8560991455180320245","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the packet on table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the packet on table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the packet on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- place the pipcorn packet on the table 2- place the packet on table 3- place the packet on table 4- place the packet on table 5- place the packet on table 6- place the packet on table Q: immediate next step? \u003cPRED\u003eA: place the packet on table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: place the packet on table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- place the pipcorn packet on the table 2- place the packet on table 3- place the packet on table 4- place the packet on table 5- place the packet on table 6- place the packet on table Q: next 5 steps? \u003cPRED\u003eA: 1- place the packet on table 2- done\n\u003c/PRED\u003e","video":"12113806409631149547.mp4"}
+{"uid":"2646385860134613028","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14585467944356059040.mp4"}
+{"uid":"5521314462192610978","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the nut in plastic cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16825988287918901397.mp4"}
+{"uid":"12689008278001434442","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the packet in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10048078229882343526.mp4"}
+{"uid":"2173251418985140020","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the white packet in the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3155295263381966125.mp4"}
+{"uid":"579257589234106956","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the packet in the basket\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal packets into the tray. last 20 steps: 1- place the packet in the basket 2- place the packet in the basket 3- place the packet in the basket 4- place the packet in the basket 5- place the packet in the basket 6- place the packet in the basket 7- place the packet in the basket 8- place the packet in the basket 9- place the packet in the basket Q: next 5 steps? \u003cPRED\u003eA: 1- place the packet in the basket 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the packet in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the packet in the basket\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the oatmeal packets into the tray Q: immediate next step? \u003cPRED\u003eA: place the packet in the basket\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal packets into the tray. last 20 steps: 1- place the packet in the basket 2- place the packet in the basket 3- place the packet in the basket 4- place the packet in the basket 5- place the packet in the basket 6- place the packet in the basket 7- place the packet in the basket 8- place the packet in the basket 9- place the packet in the basket Q: immediate next step? \u003cPRED\u003eA: place the packet in the basket\n\u003c/PRED\u003e","video":"5998641548196490429.mp4"}
+{"uid":"8556800559078815092","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the popcorn packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:False\u003e\nput the chocolate cereals into the paper bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- place the pipcorn packet on the table 2- place the packet on table 3- place the packet on table Q: next 5 steps? \u003cPRED\u003eA: 1- Place the popcorn packet on the table 2- place the packet on table 3- place orange packet on the table 4- place the packet on table 5- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the popcorn packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- place the pipcorn packet on the table 2- place the packet on table 3- place the packet on table Q: immediate next step? \u003cPRED\u003eA: Place the popcorn packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: Place the popcorn packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the popcorn packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13875511380778799813.mp4"}
+{"uid":"3041726669109751130","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput blue pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5976377863363639441.mp4"}
+{"uid":"6940278848195769861","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- place the pipcorn packet on the table 2- place the packet on table 3- place the packet on table 4- place the packet on table 5- place the packet on table 6- place the packet on table 7- place orange packet on the table Q: immediate next step? \u003cPRED\u003eA: place orange packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- place the pipcorn packet on the table 2- place the packet on table 3- place the packet on table 4- place the packet on table 5- place the packet on table 6- place the packet on table 7- place orange packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place orange packet on the table 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: place orange packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place orange packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place orange packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace orange packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4593570132578927248.mp4"}
+{"uid":"4308091274876411326","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove your arm upwards Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14162450258624667904.mp4"}
+{"uid":"1172649848986895494","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the nacho packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: Place the nacho packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the nacho packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- place the pipcorn packet on the table 2- place the packet on table 3- place the packet on table 4- place the packet on table 5- place the packet on table 6- place the packet on table 7- place orange packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Place the nacho packet on the table 2- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the nacho packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- place the pipcorn packet on the table 2- place the packet on table 3- place the packet on table 4- place the packet on table 5- place the packet on table 6- place the packet on table 7- place orange packet on the table Q: immediate next step? \u003cPRED\u003eA: Place the nacho packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the nacho packet on the table\n\u003c/PRED\u003e","video":"18275685713122477739.mp4"}
+{"uid":"1074954465395597982","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the packet in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the packet in the basket\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the packet in the basket\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal packets into the tray. last 20 steps: 1- place the packet in the basket 2- place the packet in the basket 3- place the packet in the basket 4- place the packet in the basket 5- place the packet in the basket 6- place the packet in the basket 7- place the packet in the basket Q: next 5 steps? \u003cPRED\u003eA: 1- place the packet in the basket 2- place the packet in the basket 3- place the packet in the basket 4- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the oatmeal packets into the tray Q: immediate next step? \u003cPRED\u003eA: place the packet in the basket\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal packets into the tray. last 20 steps: 1- place the packet in the basket 2- place the packet in the basket 3- place the packet in the basket 4- place the packet in the basket 5- place the packet in the basket 6- place the packet in the basket 7- place the packet in the basket Q: immediate next step? \u003cPRED\u003eA: place the packet in the basket\n\u003c/PRED\u003e","video":"8121134316927267936.mp4"}
+{"uid":"16619062715559475924","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the pen on the table from the stationary holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1442857410091260884.mp4"}
+{"uid":"15380848290622869519","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the oatmeal packets into the tray Q: immediate next step? \u003cPRED\u003eA: place the packet in the basket\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal packets into the tray. last 20 steps: 1- place the packet in the basket 2- place the packet in the basket 3- place the packet in the basket 4- place the packet in the basket 5- place the packet in the basket 6- place the packet in the basket Q: next 5 steps? \u003cPRED\u003eA: 1- place the packet in the basket 2- place the packet in the basket 3- place the packet in the basket 4- place the packet in the basket 5- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the packet in the basket\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the packet in the basket\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the packet in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal packets into the tray. last 20 steps: 1- place the packet in the basket 2- place the packet in the basket 3- place the packet in the basket 4- place the packet in the basket 5- place the packet in the basket 6- place the packet in the basket Q: immediate next step? \u003cPRED\u003eA: place the packet in the basket\n\u003c/PRED\u003e","video":"16470577416857811557.mp4"}
+{"uid":"14133309964343827273","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop orange candy into glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"545530736536484726.mp4"}
+{"uid":"1534860634520809535","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput almond candy in the first row of organiser Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4644881835621535889.mp4"}
+{"uid":"6473248662069160723","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal packets into the tray. last 20 steps: 1- place the packet in the basket 2- place the packet in the basket 3- place the packet in the basket 4- place the packet in the basket 5- place the packet in the basket Q: next 5 steps? \u003cPRED\u003eA: 1- place the packet in the basket 2- place the packet in the basket 3- place the packet in the basket 4- place the packet in the basket 5- place the packet in the basket\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal packets into the tray. last 20 steps: 1- place the packet in the basket 2- place the packet in the basket 3- place the packet in the basket 4- place the packet in the basket 5- place the packet in the basket Q: immediate next step? \u003cPRED\u003eA: place the packet in the basket\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the oatmeal packets into the tray Q: immediate next step? \u003cPRED\u003eA: place the packet in the basket\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the packet in the basket\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the packet in the basket\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the packet in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1934727457813480728.mp4"}
+{"uid":"17358089739116270312","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the packet in the basket\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the packet in the basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4980913728339992576.mp4"}
+{"uid":"9390885678456996404","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace orange packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place orange packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: place orange packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place orange packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- place the pipcorn packet on the table 2- place the packet on table 3- place the packet on table 4- place the packet on table 5- place the packet on table Q: immediate next step? \u003cPRED\u003eA: place orange packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- place the pipcorn packet on the table 2- place the packet on table 3- place the packet on table 4- place the packet on table 5- place the packet on table Q: next 5 steps? \u003cPRED\u003eA: 1- place orange packet on the table 2- place orange packet on the table 3- place the packet on table 4- done\n\u003c/PRED\u003e","video":"16557250500614797522.mp4"}
+{"uid":"10039241343258840148","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the nacho packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- place the pipcorn packet on the table 2- place the packet on table 3- place the packet on table 4- place the packet on table 5- place the packet on table Q: immediate next step? \u003cPRED\u003eA: Place the nacho packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the nacho packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: Place the nacho packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- place the pipcorn packet on the table 2- place the packet on table 3- place the packet on table 4- place the packet on table 5- place the packet on table Q: next 5 steps? \u003cPRED\u003eA: 1- Place the nacho packet on the table 2- place the packet on table 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the nacho packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11016373783560612782.mp4"}
+{"uid":"7341319552660805804","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove the glass left Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11908201456435031437.mp4"}
+{"uid":"16280730850840499343","text":"\u003ctask:success:discrete:True\u003e\nplace orange packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place orange packet on the table\n\u003c/PRED\u003e","video":"14496619790945138316.mp4"}
+{"uid":"17610425739283507032","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the packet in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the packet in the basket\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the oatmeal packets into the tray Q: immediate next step? \u003cPRED\u003eA: place the packet in the basket\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal packets into the tray. last 20 steps: 1- place the packet in the basket 2- place the packet in the basket Q: next 5 steps? \u003cPRED\u003eA: 1- place the packet in the basket 2- place the packet in the basket 3- place the packet in the basket 4- place the packet in the basket 5- place the packet in the basket\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal packets into the tray. last 20 steps: 1- place the packet in the basket 2- place the packet in the basket Q: immediate next step? \u003cPRED\u003eA: place the packet in the basket\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the packet in the basket\n\u003c/PRED\u003e","video":"6104631013270265243.mp4"}
+{"uid":"12970200926180680860","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the oatmeal packets into the tray Q: immediate next step? \u003cPRED\u003eA: place the packet in the basket\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the packet in the basket\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal packets into the tray. last 20 steps: 1- place the packet in the basket Q: immediate next step? \u003cPRED\u003eA: place the packet in the basket\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the packet in the basket\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal packets into the tray. last 20 steps: 1- place the packet in the basket Q: next 5 steps? \u003cPRED\u003eA: 1- place the packet in the basket 2- place the packet in the basket 3- place the packet in the basket 4- place the packet in the basket 5- place the packet in the basket\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the packet in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8744858404909971702.mp4"}
+{"uid":"844333219956688870","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the  pebbles in the left cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12631172978304099244.mp4"}
+{"uid":"10997004394501260237","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace orange in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2472523572419250922.mp4"}
+{"uid":"16314636719894800196","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the pistachios in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5102828081465642044.mp4"}
+{"uid":"14211899001624753915","text":"\u003ctask:success:discrete:True\u003e\nplace the packet in the basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal packets into the tray. last 20 steps: 1- place the packet in the basket 2- place the packet in the basket 3- place the packet in the basket 4- place the packet in the basket 5- place the packet in the basket 6- place the packet in the basket 7- place the packet in the basket 8- place the packet in the basket 9- place the packet in the basket 10- place the packet in the basket Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the packet in the basket\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the oatmeal packets into the tray Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal packets into the tray. last 20 steps: 1- place the packet in the basket 2- place the packet in the basket 3- place the packet in the basket 4- place the packet in the basket 5- place the packet in the basket 6- place the packet in the basket 7- place the packet in the basket 8- place the packet in the basket 9- place the packet in the basket 10- place the packet in the basket Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"11591747882849088556.mp4"}
+{"uid":"2311681103600731899","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: place the packet on table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- place the pipcorn packet on the table 2- place the packet on table 3- place the packet on table 4- place the packet on table 5- place the packet on table Q: immediate next step? \u003cPRED\u003eA: place the packet on table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the packet on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the packet on table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- place the pipcorn packet on the table 2- place the packet on table 3- place the packet on table 4- place the packet on table 5- place the packet on table Q: next 5 steps? \u003cPRED\u003eA: 1- place the packet on table 2- place orange packet on the table 3- place the packet on table 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the packet on table\n\u003c/PRED\u003e","video":"3058585965993874922.mp4"}
+{"uid":"12987485982152361881","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nGo to the couch Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14974016841532603245.mp4"}
+{"uid":"13547789817577300364","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the packet in the basket\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the packet in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the packet in the basket\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal packets into the tray. last 20 steps: 1- place the packet in the basket 2- place the packet in the basket 3- place the packet in the basket Q: immediate next step? \u003cPRED\u003eA: place the packet in the basket\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal packets into the tray. last 20 steps: 1- place the packet in the basket 2- place the packet in the basket 3- place the packet in the basket Q: next 5 steps? \u003cPRED\u003eA: 1- place the packet in the basket 2- place the packet in the basket 3- place the packet in the basket 4- place the packet in the basket 5- place the packet in the basket\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the oatmeal packets into the tray Q: immediate next step? \u003cPRED\u003eA: place the packet in the basket\n\u003c/PRED\u003e","video":"4520205179178470611.mp4"}
+{"uid":"4307222955665449408","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the nacho packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the nacho packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: Place the nacho packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- place the pipcorn packet on the table 2- place the packet on table 3- place the packet on table 4- place the packet on table Q: next 5 steps? \u003cPRED\u003eA: 1- Place the nacho packet on the table 2- place the packet on table 3- place orange packet on the table 4- place the packet on table 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the nacho packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- place the pipcorn packet on the table 2- place the packet on table 3- place the packet on table 4- place the packet on table Q: immediate next step? \u003cPRED\u003eA: Place the nacho packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the nacho packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8697466162028443048.mp4"}
+{"uid":"2223928594515011806","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the packet on table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: place the packet on table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- place the pipcorn packet on the table 2- place the packet on table 3- place the packet on table Q: next 5 steps? \u003cPRED\u003eA: 1- place the packet on table 2- place the packet on table 3- place the packet on table 4- place orange packet on the table 5- place the packet on table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- place the pipcorn packet on the table 2- place the packet on table 3- place the packet on table Q: immediate next step? \u003cPRED\u003eA: place the packet on table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the packet on table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the packet on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"481960939263435027.mp4"}
+{"uid":"13464456811153341817","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the packet on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the packet on table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: place the packet on table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the packet on table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- place the pipcorn packet on the table 2- place the packet on table Q: immediate next step? \u003cPRED\u003eA: place the packet on table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- place the pipcorn packet on the table 2- place the packet on table Q: next 5 steps? \u003cPRED\u003eA: 1- place the packet on table 2- place the packet on table 3- place the packet on table 4- place the packet on table 5- place orange packet on the table\n\u003c/PRED\u003e","video":"756131604717252616.mp4"}
+{"uid":"3314039008005262314","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: Place the popcorn packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- place the pipcorn packet on the table 2- place the packet on table Q: next 5 steps? \u003cPRED\u003eA: 1- Place the popcorn packet on the table 2- place the packet on table 3- place the packet on table 4- place orange packet on the table 5- place the packet on table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the popcorn packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the popcorn packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- place the pipcorn packet on the table 2- place the packet on table Q: immediate next step? \u003cPRED\u003eA: Place the popcorn packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the popcorn packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10080840136215611852.mp4"}
+{"uid":"11179782379923635440","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace orange packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: place orange packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place orange packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place orange packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- place the pipcorn packet on the table 2- place the packet on table 3- place the packet on table 4- place the packet on table 5- place the packet on table 6- place the packet on table Q: immediate next step? \u003cPRED\u003eA: place orange packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- place the pipcorn packet on the table 2- place the packet on table 3- place the packet on table 4- place the packet on table 5- place the packet on table 6- place the packet on table Q: next 5 steps? \u003cPRED\u003eA: 1- place orange packet on the table 2- done\n\u003c/PRED\u003e","video":"10606385711587978631.mp4"}
+{"uid":"8109691157892704271","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nstack the coffee cup lids on the existing stack in the glass holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: stack the coffee cup lids on the existing stack in the glass holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the lids in the spinning carousel. last 20 steps: 1- place the coffee cup lids in the glass holder 2- stack the coffee cup lids on the existing stack in the glass holder 3- stack the coffee cup lids on the existing stack in the glass holder 4- stack the coffee cup lids on the existing stack in the glass holder 5- stack the coffee cup lids on the existing stack in the glass holder 6- stack the coffee cup lid on the existing stack in the glass holder 7- stack the coffee cup lids on the existing stack in the glass holder Q: next 5 steps? \u003cPRED\u003eA: 1- stack the coffee cup lids on the existing stack in the glass holder 2- stack the coffee cup lid on the existing stack in the glass holder 3- stack the coffee cup lid on the existing stack in the glass holder 4- move the coffee cup lids near the glass stand 5- stack the coffee cup lids on the existing stack in the glass holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the lids in the spinning carousel. last 20 steps: 1- place the coffee cup lids in the glass holder 2- stack the coffee cup lids on the existing stack in the glass holder 3- stack the coffee cup lids on the existing stack in the glass holder 4- stack the coffee cup lids on the existing stack in the glass holder 5- stack the coffee cup lids on the existing stack in the glass holder 6- stack the coffee cup lid on the existing stack in the glass holder 7- stack the coffee cup lids on the existing stack in the glass holder Q: immediate next step? \u003cPRED\u003eA: stack the coffee cup lids on the existing stack in the glass holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the lids in the spinning carousel Q: immediate next step? \u003cPRED\u003eA: stack the coffee cup lids on the existing stack in the glass holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: stack the coffee cup lids on the existing stack in the glass holder\n\u003c/PRED\u003e","video":"13233003820604021071.mp4"}
+{"uid":"16735173479585228379","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the gripper on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15939767924742670358.mp4"}
+{"uid":"1673024556832430021","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open the fridge\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I am thirsty can you get me a hint watermelon from Mk fridge to my desk. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- open the fridge 2- place the bottle on the table 3- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nopen the fridge Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I am thirsty can you get me a hint watermelon from Mk fridge to my desk Q: immediate next step? \u003cPRED\u003eA: open the fridge\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nopen the fridge Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I am thirsty can you get me a hint watermelon from Mk fridge to my desk. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: open the fridge\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open the fridge\n\u003c/PRED\u003e","video":"3967344908287988154.mp4"}
+{"uid":"6890162616565527218","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick the pink object from the plastic object Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18418442001454777003.mp4"}
+{"uid":"309788401192238372","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: stack the coffee cup lid on the existing stack in the glass holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: stack the coffee cup lid on the existing stack in the glass holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the lids in the spinning carousel. last 20 steps: 1- place the coffee cup lids in the glass holder 2- stack the coffee cup lids on the existing stack in the glass holder 3- stack the coffee cup lids on the existing stack in the glass holder 4- stack the coffee cup lids on the existing stack in the glass holder 5- stack the coffee cup lids on the existing stack in the glass holder Q: immediate next step? \u003cPRED\u003eA: stack the coffee cup lid on the existing stack in the glass holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nstack the coffee cup lid on the existing stack in the glass holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nstack the coffee cup lid on the existing stack in the glass holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the lids in the spinning carousel Q: immediate next step? \u003cPRED\u003eA: stack the coffee cup lid on the existing stack in the glass holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the lids in the spinning carousel. last 20 steps: 1- place the coffee cup lids in the glass holder 2- stack the coffee cup lids on the existing stack in the glass holder 3- stack the coffee cup lids on the existing stack in the glass holder 4- stack the coffee cup lids on the existing stack in the glass holder 5- stack the coffee cup lids on the existing stack in the glass holder Q: next 5 steps? \u003cPRED\u003eA: 1- stack the coffee cup lid on the existing stack in the glass holder 2- stack the coffee cup lids on the existing stack in the glass holder 3- stack the coffee cup lids on the existing stack in the glass holder 4- stack the coffee cup lid on the existing stack in the glass holder 5- stack the coffee cup lid on the existing stack in the glass holder\n\u003c/PRED\u003e","video":"907394777921417277.mp4"}
+{"uid":"9615664343649450851","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the lids in the spinning carousel. last 20 steps: 1- place the coffee cup lids in the glass holder 2- stack the coffee cup lids on the existing stack in the glass holder Q: immediate next step? \u003cPRED\u003eA: stack the coffee cup lids on the existing stack in the glass holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nstack the coffee cup lids on the existing stack in the glass holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: stack the coffee cup lids on the existing stack in the glass holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: stack the coffee cup lids on the existing stack in the glass holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the lids in the spinning carousel. last 20 steps: 1- place the coffee cup lids in the glass holder 2- stack the coffee cup lids on the existing stack in the glass holder Q: next 5 steps? \u003cPRED\u003eA: 1- stack the coffee cup lids on the existing stack in the glass holder 2- stack the coffee cup lids on the existing stack in the glass holder 3- stack the coffee cup lids on the existing stack in the glass holder 4- stack the coffee cup lid on the existing stack in the glass holder 5- stack the coffee cup lids on the existing stack in the glass holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the lids in the spinning carousel Q: immediate next step? \u003cPRED\u003eA: stack the coffee cup lids on the existing stack in the glass holder\n\u003c/PRED\u003e","video":"13746097508285116004.mp4"}
+{"uid":"14453952046856258771","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put the lids in the spinning carousel Q: immediate next step? \u003cPRED\u003eA: stack the coffee cup lid on the existing stack in the glass holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the lids in the spinning carousel. last 20 steps: 1- place the coffee cup lids in the glass holder 2- stack the coffee cup lids on the existing stack in the glass holder 3- stack the coffee cup lids on the existing stack in the glass holder 4- stack the coffee cup lids on the existing stack in the glass holder 5- stack the coffee cup lids on the existing stack in the glass holder 6- stack the coffee cup lid on the existing stack in the glass holder 7- stack the coffee cup lids on the existing stack in the glass holder 8- stack the coffee cup lids on the existing stack in the glass holder 9- stack the coffee cup lid on the existing stack in the glass holder 10- stack the coffee cup lid on the existing stack in the glass holder 11- move the coffee cup lids near the glass stand 12- stack the coffee cup lids on the existing stack in the glass holder 13- stack the coffee cup lids on the existing stack in the glass holder 14- stack the coffee cup lid on the existing stack in the glass holder 15- stack the coffee cup lids on the existing stack in the glass holder Q: next 5 steps? \u003cPRED\u003eA: 1- stack the coffee cup lid on the existing stack in the glass holder 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nstack the coffee cup lid on the existing stack in the glass holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the lids in the spinning carousel. last 20 steps: 1- place the coffee cup lids in the glass holder 2- stack the coffee cup lids on the existing stack in the glass holder 3- stack the coffee cup lids on the existing stack in the glass holder 4- stack the coffee cup lids on the existing stack in the glass holder 5- stack the coffee cup lids on the existing stack in the glass holder 6- stack the coffee cup lid on the existing stack in the glass holder 7- stack the coffee cup lids on the existing stack in the glass holder 8- stack the coffee cup lids on the existing stack in the glass holder 9- stack the coffee cup lid on the existing stack in the glass holder 10- stack the coffee cup lid on the existing stack in the glass holder 11- move the coffee cup lids near the glass stand 12- stack the coffee cup lids on the existing stack in the glass holder 13- stack the coffee cup lids on the existing stack in the glass holder 14- stack the coffee cup lid on the existing stack in the glass holder 15- stack the coffee cup lids on the existing stack in the glass holder Q: immediate next step? \u003cPRED\u003eA: stack the coffee cup lid on the existing stack in the glass holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: stack the coffee cup lid on the existing stack in the glass holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: stack the coffee cup lid on the existing stack in the glass holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nstack the coffee cup lid on the existing stack in the glass holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12619071405465034786.mp4"}
+{"uid":"140896737208426197","text":"\u003ctask:success:discrete:True\u003e\nGo to the dustbin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Go to the dustbin\n\u003c/PRED\u003e","video":"17163122899843954285.mp4"}
+{"uid":"6909105052764481012","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: We just finished the meeting. Clean up the meeting room. Q: immediate next step? \u003cPRED\u003eA: open the door\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open the door\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nopen the door Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: We just finished the meeting. Clean up the meeting room. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: open the door\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open the door\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nopen the door Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: We just finished the meeting. Clean up the meeting room. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- open the door 2- Arrange the chair 3- Arrange the chair 4- Arrange the chair 5- done\n\u003c/PRED\u003e","video":"14008325834254513512.mp4"}
+{"uid":"4313708483907282614","text":"\u003ctask:success:discrete:True\u003e\nstack the coffee cup lids on the existing stack in the glass holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: stack the coffee cup lids on the existing stack in the glass holder\n\u003c/PRED\u003e","video":"1685739289616767771.mp4"}
+{"uid":"3547274917130861936","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput candy in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10873541473663114420.mp4"}
+{"uid":"15218550413060625390","text":"\u003ctask:success:discrete:False\u003e\nstack the coffee cup lids on the existing stack in the glass holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the lids in the spinning carousel Q: immediate next step? \u003cPRED\u003eA: stack the coffee cup lids on the existing stack in the glass holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: stack the coffee cup lids on the existing stack in the glass holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: stack the coffee cup lids on the existing stack in the glass holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nstack the coffee cup lids on the existing stack in the glass holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the lids in the spinning carousel. last 20 steps: 1- place the coffee cup lids in the glass holder 2- stack the coffee cup lids on the existing stack in the glass holder 3- stack the coffee cup lids on the existing stack in the glass holder Q: immediate next step? \u003cPRED\u003eA: stack the coffee cup lids on the existing stack in the glass holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the lids in the spinning carousel. last 20 steps: 1- place the coffee cup lids in the glass holder 2- stack the coffee cup lids on the existing stack in the glass holder 3- stack the coffee cup lids on the existing stack in the glass holder Q: next 5 steps? \u003cPRED\u003eA: 1- stack the coffee cup lids on the existing stack in the glass holder 2- stack the coffee cup lids on the existing stack in the glass holder 3- stack the coffee cup lid on the existing stack in the glass holder 4- stack the coffee cup lids on the existing stack in the glass holder 5- stack the coffee cup lids on the existing stack in the glass holder\n\u003c/PRED\u003e","video":"3429694784624743030.mp4"}
+{"uid":"827599489078629975","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the lids in the spinning carousel. last 20 steps: 1- place the coffee cup lids in the glass holder 2- stack the coffee cup lids on the existing stack in the glass holder 3- stack the coffee cup lids on the existing stack in the glass holder 4- stack the coffee cup lids on the existing stack in the glass holder 5- stack the coffee cup lids on the existing stack in the glass holder 6- stack the coffee cup lid on the existing stack in the glass holder 7- stack the coffee cup lids on the existing stack in the glass holder 8- stack the coffee cup lids on the existing stack in the glass holder 9- stack the coffee cup lid on the existing stack in the glass holder 10- stack the coffee cup lid on the existing stack in the glass holder 11- move the coffee cup lids near the glass stand 12- stack the coffee cup lids on the existing stack in the glass holder 13- stack the coffee cup lids on the existing stack in the glass holder 14- stack the coffee cup lid on the existing stack in the glass holder Q: next 5 steps? \u003cPRED\u003eA: 1- stack the coffee cup lids on the existing stack in the glass holder 2- stack the coffee cup lid on the existing stack in the glass holder 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: stack the coffee cup lids on the existing stack in the glass holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the lids in the spinning carousel Q: immediate next step? \u003cPRED\u003eA: stack the coffee cup lids on the existing stack in the glass holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: stack the coffee cup lids on the existing stack in the glass holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nstack the coffee cup lids on the existing stack in the glass holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the lids in the spinning carousel. last 20 steps: 1- place the coffee cup lids in the glass holder 2- stack the coffee cup lids on the existing stack in the glass holder 3- stack the coffee cup lids on the existing stack in the glass holder 4- stack the coffee cup lids on the existing stack in the glass holder 5- stack the coffee cup lids on the existing stack in the glass holder 6- stack the coffee cup lid on the existing stack in the glass holder 7- stack the coffee cup lids on the existing stack in the glass holder 8- stack the coffee cup lids on the existing stack in the glass holder 9- stack the coffee cup lid on the existing stack in the glass holder 10- stack the coffee cup lid on the existing stack in the glass holder 11- move the coffee cup lids near the glass stand 12- stack the coffee cup lids on the existing stack in the glass holder 13- stack the coffee cup lids on the existing stack in the glass holder 14- stack the coffee cup lid on the existing stack in the glass holder Q: immediate next step? \u003cPRED\u003eA: stack the coffee cup lids on the existing stack in the glass holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nstack the coffee cup lids on the existing stack in the glass holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16588929445108040680.mp4"}
+{"uid":"5902677128507767116","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up the wrapper Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11935238589902118928.mp4"}
+{"uid":"2572384040288225765","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: stack the coffee cup lids on the existing stack in the glass holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nstack the coffee cup lids on the existing stack in the glass holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10612096139246604543.mp4"}
+{"uid":"12797633928621797921","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Pick up the trash from the floor and throw it away. Q: immediate next step? \u003cPRED\u003eA: Pick up the rapper\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the rapper Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Pick up the trash from the floor and throw it away. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Pick up the rapper\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Pick up the trash from the floor and throw it away. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the rapper 2- Go to the dustbin 3- Put the rapper in the dustbin 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the rapper\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the rapper Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the rapper\n\u003c/PRED\u003e","video":"13140728033743419908.mp4"}
+{"uid":"12904977700101844044","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the plastic forks in forks holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5666634975107089951.mp4"}
+{"uid":"18140385995981566532","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the candy in the organiser Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5251274137979358489.mp4"}
+{"uid":"5469552614035060103","text":"\u003ctask:success:discrete:True\u003e\nplace the bottle on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I am thirsty can you get me a hint watermelon from Mk fridge to my desk Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the bottle on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I am thirsty can you get me a hint watermelon from Mk fridge to my desk. last 20 steps: 1- open the fridge 2- place the bottle on the table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I am thirsty can you get me a hint watermelon from Mk fridge to my desk. last 20 steps: 1- open the fridge 2- place the bottle on the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"15486162391555454760.mp4"}
+{"uid":"18297589421066328873","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the lids in the spinning carousel. last 20 steps: 1- place the coffee cup lids in the glass holder 2- stack the coffee cup lids on the existing stack in the glass holder 3- stack the coffee cup lids on the existing stack in the glass holder 4- stack the coffee cup lids on the existing stack in the glass holder Q: immediate next step? \u003cPRED\u003eA: stack the coffee cup lids on the existing stack in the glass holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the lids in the spinning carousel. last 20 steps: 1- place the coffee cup lids in the glass holder 2- stack the coffee cup lids on the existing stack in the glass holder 3- stack the coffee cup lids on the existing stack in the glass holder 4- stack the coffee cup lids on the existing stack in the glass holder Q: next 5 steps? \u003cPRED\u003eA: 1- stack the coffee cup lids on the existing stack in the glass holder 2- stack the coffee cup lid on the existing stack in the glass holder 3- stack the coffee cup lids on the existing stack in the glass holder 4- stack the coffee cup lids on the existing stack in the glass holder 5- stack the coffee cup lid on the existing stack in the glass holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: stack the coffee cup lids on the existing stack in the glass holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nstack the coffee cup lids on the existing stack in the glass holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the lids in the spinning carousel Q: immediate next step? \u003cPRED\u003eA: stack the coffee cup lids on the existing stack in the glass holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: stack the coffee cup lids on the existing stack in the glass holder\n\u003c/PRED\u003e","video":"6805401368432768784.mp4"}
+{"uid":"10692507253634768990","text":"\u003ctask:success:discrete:True\u003e\nArrange the chair Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: We just finished the meeting. Clean up the meeting room. last 20 steps: 1- open the door 2- Arrange the chair 3- Arrange the chair 4- Arrange the chair Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: We just finished the meeting. Clean up the meeting room. last 20 steps: 1- open the door 2- Arrange the chair 3- Arrange the chair 4- Arrange the chair Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: We just finished the meeting. Clean up the meeting room. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Arrange the chair\n\u003c/PRED\u003e","video":"3192530882021504614.mp4"}
+{"uid":"14329859870924402981","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the coffee cup lids in the glass holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the coffee cup lids in the glass holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the lids in the spinning carousel. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place the coffee cup lids in the glass holder 2- stack the coffee cup lids on the existing stack in the glass holder 3- stack the coffee cup lids on the existing stack in the glass holder 4- stack the coffee cup lids on the existing stack in the glass holder 5- stack the coffee cup lids on the existing stack in the glass holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the lids in the spinning carousel. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place the coffee cup lids in the glass holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the coffee cup lids in the glass holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the lids in the spinning carousel Q: immediate next step? \u003cPRED\u003eA: place the coffee cup lids in the glass holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the coffee cup lids in the glass holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16444515785715497486.mp4"}
+{"uid":"210767560861695635","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put the lids in the spinning carousel Q: immediate next step? \u003cPRED\u003eA: stack the coffee cup lids on the existing stack in the glass holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the lids in the spinning carousel. last 20 steps: 1- place the coffee cup lids in the glass holder 2- stack the coffee cup lids on the existing stack in the glass holder 3- stack the coffee cup lids on the existing stack in the glass holder 4- stack the coffee cup lids on the existing stack in the glass holder 5- stack the coffee cup lids on the existing stack in the glass holder 6- stack the coffee cup lid on the existing stack in the glass holder 7- stack the coffee cup lids on the existing stack in the glass holder 8- stack the coffee cup lids on the existing stack in the glass holder 9- stack the coffee cup lid on the existing stack in the glass holder 10- stack the coffee cup lid on the existing stack in the glass holder 11- move the coffee cup lids near the glass stand 12- stack the coffee cup lids on the existing stack in the glass holder Q: next 5 steps? \u003cPRED\u003eA: 1- stack the coffee cup lids on the existing stack in the glass holder 2- stack the coffee cup lid on the existing stack in the glass holder 3- stack the coffee cup lids on the existing stack in the glass holder 4- stack the coffee cup lid on the existing stack in the glass holder 5- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: stack the coffee cup lids on the existing stack in the glass holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nstack the coffee cup lids on the existing stack in the glass holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: stack the coffee cup lids on the existing stack in the glass holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the lids in the spinning carousel. last 20 steps: 1- place the coffee cup lids in the glass holder 2- stack the coffee cup lids on the existing stack in the glass holder 3- stack the coffee cup lids on the existing stack in the glass holder 4- stack the coffee cup lids on the existing stack in the glass holder 5- stack the coffee cup lids on the existing stack in the glass holder 6- stack the coffee cup lid on the existing stack in the glass holder 7- stack the coffee cup lids on the existing stack in the glass holder 8- stack the coffee cup lids on the existing stack in the glass holder 9- stack the coffee cup lid on the existing stack in the glass holder 10- stack the coffee cup lid on the existing stack in the glass holder 11- move the coffee cup lids near the glass stand 12- stack the coffee cup lids on the existing stack in the glass holder Q: immediate next step? \u003cPRED\u003eA: stack the coffee cup lids on the existing stack in the glass holder\n\u003c/PRED\u003e","video":"10879897979761343144.mp4"}
+{"uid":"14822654304669408118","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the candy in a tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2726524901085294675.mp4"}
+{"uid":"3169906183736720752","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: stack the coffee cup lids on the existing stack in the glass holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nstack the coffee cup lids on the existing stack in the glass holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2962669787840679159.mp4"}
+{"uid":"16545039688892059566","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the lids in the spinning carousel. last 20 steps: 1- place the coffee cup lids in the glass holder 2- stack the coffee cup lids on the existing stack in the glass holder 3- stack the coffee cup lids on the existing stack in the glass holder 4- stack the coffee cup lids on the existing stack in the glass holder 5- stack the coffee cup lids on the existing stack in the glass holder 6- stack the coffee cup lid on the existing stack in the glass holder 7- stack the coffee cup lids on the existing stack in the glass holder 8- stack the coffee cup lids on the existing stack in the glass holder 9- stack the coffee cup lid on the existing stack in the glass holder 10- stack the coffee cup lid on the existing stack in the glass holder Q: next 5 steps? \u003cPRED\u003eA: 1- move the coffee cup lids near the glass stand 2- stack the coffee cup lids on the existing stack in the glass holder 3- stack the coffee cup lids on the existing stack in the glass holder 4- stack the coffee cup lid on the existing stack in the glass holder 5- stack the coffee cup lids on the existing stack in the glass holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the lids in the spinning carousel. last 20 steps: 1- place the coffee cup lids in the glass holder 2- stack the coffee cup lids on the existing stack in the glass holder 3- stack the coffee cup lids on the existing stack in the glass holder 4- stack the coffee cup lids on the existing stack in the glass holder 5- stack the coffee cup lids on the existing stack in the glass holder 6- stack the coffee cup lid on the existing stack in the glass holder 7- stack the coffee cup lids on the existing stack in the glass holder 8- stack the coffee cup lids on the existing stack in the glass holder 9- stack the coffee cup lid on the existing stack in the glass holder 10- stack the coffee cup lid on the existing stack in the glass holder Q: immediate next step? \u003cPRED\u003eA: move the coffee cup lids near the glass stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove the coffee cup lids near the glass stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the lids in the spinning carousel Q: immediate next step? \u003cPRED\u003eA: move the coffee cup lids near the glass stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move the coffee cup lids near the glass stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move the coffee cup lids near the glass stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove the coffee cup lids near the glass stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13283778088391915465.mp4"}
+{"uid":"3568536786847922112","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: stack the coffee cup lid on the existing stack in the glass holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the lids in the spinning carousel. last 20 steps: 1- place the coffee cup lids in the glass holder 2- stack the coffee cup lids on the existing stack in the glass holder 3- stack the coffee cup lids on the existing stack in the glass holder 4- stack the coffee cup lids on the existing stack in the glass holder 5- stack the coffee cup lids on the existing stack in the glass holder 6- stack the coffee cup lid on the existing stack in the glass holder 7- stack the coffee cup lids on the existing stack in the glass holder 8- stack the coffee cup lids on the existing stack in the glass holder Q: immediate next step? \u003cPRED\u003eA: stack the coffee cup lid on the existing stack in the glass holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the lids in the spinning carousel Q: immediate next step? \u003cPRED\u003eA: stack the coffee cup lid on the existing stack in the glass holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the lids in the spinning carousel. last 20 steps: 1- place the coffee cup lids in the glass holder 2- stack the coffee cup lids on the existing stack in the glass holder 3- stack the coffee cup lids on the existing stack in the glass holder 4- stack the coffee cup lids on the existing stack in the glass holder 5- stack the coffee cup lids on the existing stack in the glass holder 6- stack the coffee cup lid on the existing stack in the glass holder 7- stack the coffee cup lids on the existing stack in the glass holder 8- stack the coffee cup lids on the existing stack in the glass holder Q: next 5 steps? \u003cPRED\u003eA: 1- stack the coffee cup lid on the existing stack in the glass holder 2- stack the coffee cup lid on the existing stack in the glass holder 3- move the coffee cup lids near the glass stand 4- stack the coffee cup lids on the existing stack in the glass holder 5- stack the coffee cup lids on the existing stack in the glass holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: stack the coffee cup lid on the existing stack in the glass holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nstack the coffee cup lid on the existing stack in the glass holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nstack the coffee cup lid on the existing stack in the glass holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10233608110896497689.mp4"}
+{"uid":"4686455111378042794","text":"\u003ctask:success:discrete:False\u003e\nstack the coffee cup lids on the existing stack in the glass holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the lids in the spinning carousel Q: immediate next step? \u003cPRED\u003eA: stack the coffee cup lids on the existing stack in the glass holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nstack the coffee cup lids on the existing stack in the glass holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the lids in the spinning carousel. last 20 steps: 1- place the coffee cup lids in the glass holder 2- stack the coffee cup lids on the existing stack in the glass holder 3- stack the coffee cup lids on the existing stack in the glass holder 4- stack the coffee cup lids on the existing stack in the glass holder 5- stack the coffee cup lids on the existing stack in the glass holder 6- stack the coffee cup lid on the existing stack in the glass holder Q: next 5 steps? \u003cPRED\u003eA: 1- stack the coffee cup lids on the existing stack in the glass holder 2- stack the coffee cup lids on the existing stack in the glass holder 3- stack the coffee cup lid on the existing stack in the glass holder 4- stack the coffee cup lid on the existing stack in the glass holder 5- move the coffee cup lids near the glass stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the lids in the spinning carousel. last 20 steps: 1- place the coffee cup lids in the glass holder 2- stack the coffee cup lids on the existing stack in the glass holder 3- stack the coffee cup lids on the existing stack in the glass holder 4- stack the coffee cup lids on the existing stack in the glass holder 5- stack the coffee cup lids on the existing stack in the glass holder 6- stack the coffee cup lid on the existing stack in the glass holder Q: immediate next step? \u003cPRED\u003eA: stack the coffee cup lids on the existing stack in the glass holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: stack the coffee cup lids on the existing stack in the glass holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: stack the coffee cup lids on the existing stack in the glass holder\n\u003c/PRED\u003e","video":"8433336038937930112.mp4"}
+{"uid":"16829570639560998636","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput orange chocolate in white  tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11498477794387175875.mp4"}
+{"uid":"2521889018891542267","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put the lids in the spinning carousel Q: immediate next step? \u003cPRED\u003eA: stack the coffee cup lids on the existing stack in the glass holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nstack the coffee cup lids on the existing stack in the glass holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nstack the coffee cup lids on the existing stack in the glass holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the lids in the spinning carousel. last 20 steps: 1- place the coffee cup lids in the glass holder Q: immediate next step? \u003cPRED\u003eA: stack the coffee cup lids on the existing stack in the glass holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: stack the coffee cup lids on the existing stack in the glass holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the lids in the spinning carousel. last 20 steps: 1- place the coffee cup lids in the glass holder Q: next 5 steps? \u003cPRED\u003eA: 1- stack the coffee cup lids on the existing stack in the glass holder 2- stack the coffee cup lids on the existing stack in the glass holder 3- stack the coffee cup lids on the existing stack in the glass holder 4- stack the coffee cup lids on the existing stack in the glass holder 5- stack the coffee cup lid on the existing stack in the glass holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: stack the coffee cup lids on the existing stack in the glass holder\n\u003c/PRED\u003e","video":"3757149718885025576.mp4"}
+{"uid":"13199738486032039088","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the coffee cup lids in the glass holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the coffee cup lids in the glass holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17231762979009738246.mp4"}
+{"uid":"13165343416768024870","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: stack the coffee cup lids on the existing stack in the glass holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nstack the coffee cup lids on the existing stack in the glass holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8651007628144984753.mp4"}
+{"uid":"13759222155287114645","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pistachio in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6316858551609890364.mp4"}
+{"uid":"4866892911308611400","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the bottle on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the bottle on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I am thirsty can you get me a hint watermelon from Mk fridge to my desk Q: immediate next step? \u003cPRED\u003eA: place the bottle on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the bottle on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I am thirsty can you get me a hint watermelon from Mk fridge to my desk. last 20 steps: 1- open the fridge Q: immediate next step? \u003cPRED\u003eA: place the bottle on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the bottle on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I am thirsty can you get me a hint watermelon from Mk fridge to my desk. last 20 steps: 1- open the fridge Q: next 5 steps? \u003cPRED\u003eA: 1- place the bottle on the table 2- done\n\u003c/PRED\u003e","video":"9531397774695312394.mp4"}
+{"uid":"5971807207199962559","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the sticky notes in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4278322299232512070.mp4"}
+{"uid":"8329507938381231465","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11756419668848510748.mp4"}
+{"uid":"16210437820527716944","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack the disposal glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6132493445276950918.mp4"}
+{"uid":"889429401421184753","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput numi box on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17916902261628743860.mp4"}
+{"uid":"16569618264121661154","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: We just finished the meeting. Clean up the meeting room. last 20 steps: 1- open the door 2- Arrange the chair 3- Arrange the chair Q: immediate next step? \u003cPRED\u003eA: Arrange the chair\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Arrange the chair\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: We just finished the meeting. Clean up the meeting room. Q: immediate next step? \u003cPRED\u003eA: Arrange the chair\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Arrange the chair\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: We just finished the meeting. Clean up the meeting room. last 20 steps: 1- open the door 2- Arrange the chair 3- Arrange the chair Q: next 5 steps? \u003cPRED\u003eA: 1- Arrange the chair 2- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nArrange the chair Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nArrange the chair Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11847738543728208685.mp4"}
+{"uid":"15832310343117961984","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the grapes in the rack Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8899824623214134808.mp4"}
+{"uid":"13147081580310401825","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the red packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12439324298737916293.mp4"}
+{"uid":"14424829092645495721","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick the seaweed snacks bag from the black box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4316688142938221969.mp4"}
+{"uid":"12316942187603408137","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: stack the coffee cup lid on the existing stack in the glass holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the lids in the spinning carousel Q: immediate next step? \u003cPRED\u003eA: stack the coffee cup lid on the existing stack in the glass holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the lids in the spinning carousel. last 20 steps: 1- place the coffee cup lids in the glass holder 2- stack the coffee cup lids on the existing stack in the glass holder 3- stack the coffee cup lids on the existing stack in the glass holder 4- stack the coffee cup lids on the existing stack in the glass holder 5- stack the coffee cup lids on the existing stack in the glass holder 6- stack the coffee cup lid on the existing stack in the glass holder 7- stack the coffee cup lids on the existing stack in the glass holder 8- stack the coffee cup lids on the existing stack in the glass holder 9- stack the coffee cup lid on the existing stack in the glass holder 10- stack the coffee cup lid on the existing stack in the glass holder 11- move the coffee cup lids near the glass stand 12- stack the coffee cup lids on the existing stack in the glass holder 13- stack the coffee cup lids on the existing stack in the glass holder Q: next 5 steps? \u003cPRED\u003eA: 1- stack the coffee cup lid on the existing stack in the glass holder 2- stack the coffee cup lids on the existing stack in the glass holder 3- stack the coffee cup lid on the existing stack in the glass holder 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: stack the coffee cup lid on the existing stack in the glass holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nstack the coffee cup lid on the existing stack in the glass holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the lids in the spinning carousel. last 20 steps: 1- place the coffee cup lids in the glass holder 2- stack the coffee cup lids on the existing stack in the glass holder 3- stack the coffee cup lids on the existing stack in the glass holder 4- stack the coffee cup lids on the existing stack in the glass holder 5- stack the coffee cup lids on the existing stack in the glass holder 6- stack the coffee cup lid on the existing stack in the glass holder 7- stack the coffee cup lids on the existing stack in the glass holder 8- stack the coffee cup lids on the existing stack in the glass holder 9- stack the coffee cup lid on the existing stack in the glass holder 10- stack the coffee cup lid on the existing stack in the glass holder 11- move the coffee cup lids near the glass stand 12- stack the coffee cup lids on the existing stack in the glass holder 13- stack the coffee cup lids on the existing stack in the glass holder Q: immediate next step? \u003cPRED\u003eA: stack the coffee cup lid on the existing stack in the glass holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nstack the coffee cup lid on the existing stack in the glass holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7036551497594477655.mp4"}
+{"uid":"18143896572808951418","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the orange on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1956971908520708700.mp4"}
+{"uid":"6015370066160828056","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the pen on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10513306170327274157.mp4"}
+{"uid":"17295156622094871497","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput pistachio in glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17680275151226208026.mp4"}
+{"uid":"4560782681360839566","text":"\u003ctask:success:discrete:True\u003e\nPut the rapper in the dustbin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Pick up the trash from the floor and throw it away. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Pick up the trash from the floor and throw it away. last 20 steps: 1- Pick up the rapper 2- Go to the dustbin 3- Put the rapper in the dustbin Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Pick up the trash from the floor and throw it away. last 20 steps: 1- Pick up the rapper 2- Go to the dustbin 3- Put the rapper in the dustbin Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the rapper in the dustbin\n\u003c/PRED\u003e","video":"8306741463917139751.mp4"}
+{"uid":"224129158959176670","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Arrange the chair\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nArrange the chair Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4611958870662453608.mp4"}
+{"uid":"391200637585109648","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: We just finished the meeting. Clean up the meeting room. last 20 steps: 1- open the door Q: next 5 steps? \u003cPRED\u003eA: 1- Arrange the chair 2- Arrange the chair 3- Arrange the chair 4- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Arrange the chair\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nArrange the chair Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: We just finished the meeting. Clean up the meeting room. Q: immediate next step? \u003cPRED\u003eA: Arrange the chair\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: We just finished the meeting. Clean up the meeting room. last 20 steps: 1- open the door Q: immediate next step? \u003cPRED\u003eA: Arrange the chair\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nArrange the chair Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Arrange the chair\n\u003c/PRED\u003e","video":"9458742795444344360.mp4"}
+{"uid":"10504157212499842541","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the blue pen in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3039155756940886540.mp4"}
+{"uid":"12739669413099909258","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the packet in the tray box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5647542937158400798.mp4"}
+{"uid":"15165688657729558437","text":"\u003ctask:success:discrete:True\u003e\nstack the coffee cup lids on the existing stack in the glass holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: stack the coffee cup lids on the existing stack in the glass holder\n\u003c/PRED\u003e","video":"11190899499408278173.mp4"}
+{"uid":"13723491402659354045","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: open the fridge\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nopen the fridge Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12526394471447023243.mp4"}
+{"uid":"8461780873348509982","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the packet in the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10035965074692967164.mp4"}
+{"uid":"11716892789347706704","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: stack the coffee cup lid on the existing stack in the glass holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nstack the coffee cup lid on the existing stack in the glass holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7782909824218546561.mp4"}
+{"uid":"13274240556525536854","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the chip bag in container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18389675241051441025.mp4"}
+{"uid":"7622927609286301702","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Go to the dustbin\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Pick up the trash from the floor and throw it away. last 20 steps: 1- Pick up the rapper Q: immediate next step? \u003cPRED\u003eA: Go to the dustbin\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Pick up the trash from the floor and throw it away. Q: immediate next step? \u003cPRED\u003eA: Go to the dustbin\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nGo to the dustbin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nGo to the dustbin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Pick up the trash from the floor and throw it away. last 20 steps: 1- Pick up the rapper Q: next 5 steps? \u003cPRED\u003eA: 1- Go to the dustbin 2- Put the rapper in the dustbin 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Go to the dustbin\n\u003c/PRED\u003e","video":"4407388389899112676.mp4"}
+{"uid":"16096249765644619980","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: stack the coffee cup lids on the existing stack in the glass holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nstack the coffee cup lids on the existing stack in the glass holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16078755536313296607.mp4"}
+{"uid":"15298466647755438298","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput tissue on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14390084023005600608.mp4"}
+{"uid":"16103410119349623881","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the blue pen on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1063754416938502961.mp4"}
+{"uid":"7764247745054058355","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the lids in the spinning carousel. last 20 steps: 1- place the coffee cup lids in the glass holder 2- stack the coffee cup lids on the existing stack in the glass holder 3- stack the coffee cup lids on the existing stack in the glass holder 4- stack the coffee cup lids on the existing stack in the glass holder 5- stack the coffee cup lids on the existing stack in the glass holder 6- stack the coffee cup lid on the existing stack in the glass holder 7- stack the coffee cup lids on the existing stack in the glass holder 8- stack the coffee cup lids on the existing stack in the glass holder 9- stack the coffee cup lid on the existing stack in the glass holder 10- stack the coffee cup lid on the existing stack in the glass holder 11- move the coffee cup lids near the glass stand Q: next 5 steps? \u003cPRED\u003eA: 1- stack the coffee cup lids on the existing stack in the glass holder 2- stack the coffee cup lids on the existing stack in the glass holder 3- stack the coffee cup lid on the existing stack in the glass holder 4- stack the coffee cup lids on the existing stack in the glass holder 5- stack the coffee cup lid on the existing stack in the glass holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the lids in the spinning carousel Q: immediate next step? \u003cPRED\u003eA: stack the coffee cup lids on the existing stack in the glass holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nstack the coffee cup lids on the existing stack in the glass holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nstack the coffee cup lids on the existing stack in the glass holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the lids in the spinning carousel. last 20 steps: 1- place the coffee cup lids in the glass holder 2- stack the coffee cup lids on the existing stack in the glass holder 3- stack the coffee cup lids on the existing stack in the glass holder 4- stack the coffee cup lids on the existing stack in the glass holder 5- stack the coffee cup lids on the existing stack in the glass holder 6- stack the coffee cup lid on the existing stack in the glass holder 7- stack the coffee cup lids on the existing stack in the glass holder 8- stack the coffee cup lids on the existing stack in the glass holder 9- stack the coffee cup lid on the existing stack in the glass holder 10- stack the coffee cup lid on the existing stack in the glass holder 11- move the coffee cup lids near the glass stand Q: immediate next step? \u003cPRED\u003eA: stack the coffee cup lids on the existing stack in the glass holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: stack the coffee cup lids on the existing stack in the glass holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: stack the coffee cup lids on the existing stack in the glass holder\n\u003c/PRED\u003e","video":"10901341466971075382.mp4"}
+{"uid":"17729421940467301307","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: stack the coffee cup lids on the existing stack in the glass holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nstack the coffee cup lids on the existing stack in the glass holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"131159969380281652.mp4"}
+{"uid":"11119169536459924356","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nArrange the chair Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: We just finished the meeting. Clean up the meeting room. Q: immediate next step? \u003cPRED\u003eA: Arrange the chair\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: We just finished the meeting. Clean up the meeting room. last 20 steps: 1- open the door 2- Arrange the chair Q: next 5 steps? \u003cPRED\u003eA: 1- Arrange the chair 2- Arrange the chair 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Arrange the chair\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Arrange the chair\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: We just finished the meeting. Clean up the meeting room. last 20 steps: 1- open the door 2- Arrange the chair Q: immediate next step? \u003cPRED\u003eA: Arrange the chair\n\u003c/PRED\u003e","video":"1262279312075730017.mp4"}
+{"uid":"14923677888693369594","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put the lids in the spinning carousel Q: immediate next step? \u003cPRED\u003eA: stack the coffee cup lid on the existing stack in the glass holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the lids in the spinning carousel. last 20 steps: 1- place the coffee cup lids in the glass holder 2- stack the coffee cup lids on the existing stack in the glass holder 3- stack the coffee cup lids on the existing stack in the glass holder 4- stack the coffee cup lids on the existing stack in the glass holder 5- stack the coffee cup lids on the existing stack in the glass holder 6- stack the coffee cup lid on the existing stack in the glass holder 7- stack the coffee cup lids on the existing stack in the glass holder 8- stack the coffee cup lids on the existing stack in the glass holder 9- stack the coffee cup lid on the existing stack in the glass holder Q: immediate next step? \u003cPRED\u003eA: stack the coffee cup lid on the existing stack in the glass holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nstack the coffee cup lid on the existing stack in the glass holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the lids in the spinning carousel. last 20 steps: 1- place the coffee cup lids in the glass holder 2- stack the coffee cup lids on the existing stack in the glass holder 3- stack the coffee cup lids on the existing stack in the glass holder 4- stack the coffee cup lids on the existing stack in the glass holder 5- stack the coffee cup lids on the existing stack in the glass holder 6- stack the coffee cup lid on the existing stack in the glass holder 7- stack the coffee cup lids on the existing stack in the glass holder 8- stack the coffee cup lids on the existing stack in the glass holder 9- stack the coffee cup lid on the existing stack in the glass holder Q: next 5 steps? \u003cPRED\u003eA: 1- stack the coffee cup lid on the existing stack in the glass holder 2- move the coffee cup lids near the glass stand 3- stack the coffee cup lids on the existing stack in the glass holder 4- stack the coffee cup lids on the existing stack in the glass holder 5- stack the coffee cup lid on the existing stack in the glass holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: stack the coffee cup lid on the existing stack in the glass holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nstack the coffee cup lid on the existing stack in the glass holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: stack the coffee cup lid on the existing stack in the glass holder\n\u003c/PRED\u003e","video":"15136633407333736954.mp4"}
+{"uid":"13715302174056568719","text":"\u003ctask:success:discrete:True\u003e\nstack the coffee cup lids on the existing stack in the glass holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: stack the coffee cup lids on the existing stack in the glass holder\n\u003c/PRED\u003e","video":"4371187227761236053.mp4"}
+{"uid":"3693726775389794132","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Pick up the trash from the floor and throw it away. Q: immediate next step? \u003cPRED\u003eA: Put the rapper in the dustbin\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Pick up the trash from the floor and throw it away. last 20 steps: 1- Pick up the rapper 2- Go to the dustbin Q: next 5 steps? \u003cPRED\u003eA: 1- Put the rapper in the dustbin 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Pick up the trash from the floor and throw it away. last 20 steps: 1- Pick up the rapper 2- Go to the dustbin Q: immediate next step? \u003cPRED\u003eA: Put the rapper in the dustbin\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the rapper in the dustbin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the rapper in the dustbin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the rapper in the dustbin\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the rapper in the dustbin\n\u003c/PRED\u003e","video":"14097115644574614517.mp4"}
+{"uid":"17957317613017996597","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the plastic cup in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17045804887466852067.mp4"}
+{"uid":"15353401102401566570","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the redbull can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3001777492573090084.mp4"}
+{"uid":"6837961959010315580","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the candy on the candy Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Remove red unreal dark chocolate bars from the tray. Q: immediate next step? \u003cPRED\u003eA: Put the candy on the candy\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Remove red unreal dark chocolate bars from the tray. last 20 steps: 1- Put the candy on the table 2- Put the candy on the table 3- Put the candy on the table 4- Put the candy on the table 5- Put the candy on the table 6- Put the candy on the table 7- Put the candy on the table 8- Put the candy on the candy 9- Put the candy on the candy 10- Put the candy on the candy 11- Put the candy on the candy 12- Put the candy on the candy 13- Put the candy on the candy 14- Put the candy on the candy Q: immediate next step? \u003cPRED\u003eA: Put the candy on the candy\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Remove red unreal dark chocolate bars from the tray. last 20 steps: 1- Put the candy on the table 2- Put the candy on the table 3- Put the candy on the table 4- Put the candy on the table 5- Put the candy on the table 6- Put the candy on the table 7- Put the candy on the table 8- Put the candy on the candy 9- Put the candy on the candy 10- Put the candy on the candy 11- Put the candy on the candy 12- Put the candy on the candy 13- Put the candy on the candy 14- Put the candy on the candy Q: next 5 steps? \u003cPRED\u003eA: 1- Put the candy on the candy 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the candy on the candy\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the candy on the candy\n\u003c/PRED\u003e","video":"6418483303215176746.mp4"}
+{"uid":"5665520846357713860","text":"\u003ctask:success:discrete:True\u003e\nPut the candy on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the candy on the table\n\u003c/PRED\u003e","video":"7185707500491147484.mp4"}
+{"uid":"6821997808651603554","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nExit the room Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11291592112611565795.mp4"}
+{"uid":"1763576407474855524","text":"\u003ctask:success:discrete:True\u003e\nplace packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place packet on the table\n\u003c/PRED\u003e","video":"7983575468878439901.mp4"}
+{"uid":"5095307034540116789","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the brown packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Put the brown packet on the table 2- place packet on the table 3- place packet on the table 4- put packet on the table 5- place packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the brown packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: Put the brown packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the brown packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the brown packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Put the brown packet on the table\n\u003c/PRED\u003e","video":"11360959737738409066.mp4"}
+{"uid":"7238682166013242902","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9145013586675512839.mp4"}
+{"uid":"14031206324291611637","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the candy on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Remove red unreal dark chocolate bars from the tray. last 20 steps: 1- Put the candy on the table 2- Put the candy on the table 3- Put the candy on the table Q: immediate next step? \u003cPRED\u003eA: Put the candy on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Remove red unreal dark chocolate bars from the tray. last 20 steps: 1- Put the candy on the table 2- Put the candy on the table 3- Put the candy on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the candy on the table 2- Put the candy on the table 3- Put the candy on the table 4- Put the candy on the table 5- Put the candy on the candy\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the candy on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the candy on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the candy on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Remove red unreal dark chocolate bars from the tray. Q: immediate next step? \u003cPRED\u003eA: Put the candy on the table\n\u003c/PRED\u003e","video":"5620107670619383135.mp4"}
+{"uid":"6157482166755903338","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- place packet on the table 2- place packet on the table 3- place packet on the table 4- put packet on the table 5- place packet on the table 6- place packet on the table 7- Put the orange packet on the table 8- place packet on the table 9- place packet on the table 10- place packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- place packet on the table 2- place packet on the table 3- place packet on the table 4- put packet on the table 5- place packet on the table 6- place packet on the table 7- Put the orange packet on the table 8- place packet on the table 9- place packet on the table 10- place packet on the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12304617616423007463.mp4"}
+{"uid":"5461638046034297674","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the red ball in the pool ball rack Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12272715554111423346.mp4"}
+{"uid":"13627317147528512116","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- place packet on the table 2- place packet on the table 3- place packet on the table 4- put packet on the table 5- place packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put packet on the table 2- Put the orange packet on the table 3- place packet on the table 4- place packet on the table 5- put packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- place packet on the table 2- place packet on the table 3- place packet on the table 4- put packet on the table 5- place packet on the table Q: immediate next step? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12036418758479804817.mp4"}
+{"uid":"7088415216845292700","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput bowl on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12150785975194318828.mp4"}
+{"uid":"2584857525492167283","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput fork in right cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11843085934131035190.mp4"}
+{"uid":"10665656873639108635","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5505851770389073665.mp4"}
+{"uid":"9986379381321592591","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Remove red unreal dark chocolate bars from the tray. last 20 steps: 1- Put the candy on the table 2- Put the candy on the table 3- Put the candy on the table 4- Put the candy on the table 5- Put the candy on the table 6- Put the candy on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the candy on the table 2- Put the candy on the candy 3- Put the candy on the candy 4- Put the candy on the candy 5- Put the candy on the candy\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Remove red unreal dark chocolate bars from the tray. last 20 steps: 1- Put the candy on the table 2- Put the candy on the table 3- Put the candy on the table 4- Put the candy on the table 5- Put the candy on the table 6- Put the candy on the table Q: immediate next step? \u003cPRED\u003eA: Put the candy on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the candy on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the candy on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Remove red unreal dark chocolate bars from the tray. Q: immediate next step? \u003cPRED\u003eA: Put the candy on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the candy on the table\n\u003c/PRED\u003e","video":"1807310692468788666.mp4"}
+{"uid":"14774775995721454714","text":"\u003ctask:success:discrete:False\u003e\nPut the candy on the candy Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the candy on the candy\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the candy on the candy\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Remove red unreal dark chocolate bars from the tray. Q: immediate next step? \u003cPRED\u003eA: Put the candy on the candy\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the candy on the candy Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Remove red unreal dark chocolate bars from the tray. last 20 steps: 1- Put the candy on the table 2- Put the candy on the table 3- Put the candy on the table 4- Put the candy on the table 5- Put the candy on the table 6- Put the candy on the table 7- Put the candy on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the candy on the candy 2- Put the candy on the candy 3- Put the candy on the candy 4- Put the candy on the candy 5- Put the candy on the candy\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Remove red unreal dark chocolate bars from the tray. last 20 steps: 1- Put the candy on the table 2- Put the candy on the table 3- Put the candy on the table 4- Put the candy on the table 5- Put the candy on the table 6- Put the candy on the table 7- Put the candy on the table Q: immediate next step? \u003cPRED\u003eA: Put the candy on the candy\n\u003c/PRED\u003e","video":"170874864042431525.mp4"}
+{"uid":"2966542674790776435","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- place packet on the table 2- place packet on the table 3- place packet on the table 4- put packet on the table 5- place packet on the table 6- place packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the orange packet on the table 2- place packet on the table 3- place packet on the table 4- put packet on the table 5- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the orange packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: Put the orange packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the orange packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- place packet on the table 2- place packet on the table 3- place packet on the table 4- put packet on the table 5- place packet on the table 6- place packet on the table Q: immediate next step? \u003cPRED\u003eA: Put the orange packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the orange packet on the table\n\u003c/PRED\u003e","video":"13838234385578645628.mp4"}
+{"uid":"17115362027882957554","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the candy on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5231086520559324572.mp4"}
+{"uid":"6720497844552125427","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put packet on the table 2- place packet on the table 3- place packet on the table 4- put packet on the table 5- place packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e","video":"2612482487793063177.mp4"}
+{"uid":"18061235476776055016","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the apple in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7995874900878260865.mp4"}
+{"uid":"11076379026570706362","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up the pink candy Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9472705598138235798.mp4"}
+{"uid":"17362022310539250258","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the brown packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12221462786789809914.mp4"}
+{"uid":"15107243902404936938","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput candy in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2645699053264112845.mp4"}
+{"uid":"16466000377636202659","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: Put the brown packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the brown packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- place packet on the table 2- place packet on the table 3- place packet on the table 4- put packet on the table Q: immediate next step? \u003cPRED\u003eA: Put the brown packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the brown packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the brown packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- place packet on the table 2- place packet on the table 3- place packet on the table 4- put packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the brown packet on the table 2- place packet on the table 3- Put the orange packet on the table 4- place packet on the table 5- place packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the brown packet on the table\n\u003c/PRED\u003e","video":"3784695865442217075.mp4"}
+{"uid":"11005603484337522298","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Remove red unreal dark chocolate bars from the tray. last 20 steps: 1- Put the candy on the table 2- Put the candy on the table 3- Put the candy on the table 4- Put the candy on the table 5- Put the candy on the table 6- Put the candy on the table 7- Put the candy on the table 8- Put the candy on the candy 9- Put the candy on the candy 10- Put the candy on the candy 11- Put the candy on the candy Q: immediate next step? \u003cPRED\u003eA: Put the candy on the candy\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Remove red unreal dark chocolate bars from the tray. last 20 steps: 1- Put the candy on the table 2- Put the candy on the table 3- Put the candy on the table 4- Put the candy on the table 5- Put the candy on the table 6- Put the candy on the table 7- Put the candy on the table 8- Put the candy on the candy 9- Put the candy on the candy 10- Put the candy on the candy 11- Put the candy on the candy Q: next 5 steps? \u003cPRED\u003eA: 1- Put the candy on the candy 2- Put the candy on the candy 3- Put the candy on the candy 4- Put the candy on the candy 5- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the candy on the candy\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the candy on the candy Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the candy on the candy\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Remove red unreal dark chocolate bars from the tray. Q: immediate next step? \u003cPRED\u003eA: Put the candy on the candy\n\u003c/PRED\u003e","video":"668744662064655594.mp4"}
+{"uid":"252363747324796336","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- place packet on the table 2- place packet on the table 3- place packet on the table 4- put packet on the table 5- place packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place packet on the table 2- Put the orange packet on the table 3- place packet on the table 4- place packet on the table 5- put packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- place packet on the table 2- place packet on the table 3- place packet on the table 4- put packet on the table 5- place packet on the table Q: immediate next step? \u003cPRED\u003eA: place packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: place packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12716046607410342178.mp4"}
+{"uid":"9017537301263440907","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- place packet on the table 2- place packet on the table 3- place packet on the table 4- put packet on the table 5- place packet on the table 6- place packet on the table 7- Put the orange packet on the table 8- place packet on the table Q: immediate next step? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- place packet on the table 2- place packet on the table 3- place packet on the table 4- put packet on the table 5- place packet on the table 6- place packet on the table 7- Put the orange packet on the table 8- place packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put packet on the table 2- put packet on the table 3- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6948685748358527114.mp4"}
+{"uid":"10950509257216532421","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the paper packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3544563703289730695.mp4"}
+{"uid":"14320615594626907419","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6260693056344964905.mp4"}
+{"uid":"8657056493031021112","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the orange in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16856709252286924857.mp4"}
+{"uid":"4680828681492929324","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: place packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- place packet on the table Q: immediate next step? \u003cPRED\u003eA: place packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- place packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place packet on the table 2- place packet on the table 3- put packet on the table 4- place packet on the table 5- place packet on the table\n\u003c/PRED\u003e","video":"3247562877027203827.mp4"}
+{"uid":"11087901754679594859","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pen holder into the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9724667645748733108.mp4"}
+{"uid":"18152757552227308673","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Remove red unreal dark chocolate bars from the tray. Q: immediate next step? \u003cPRED\u003eA: Put the candy on the candy\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the candy on the candy\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Remove red unreal dark chocolate bars from the tray. last 20 steps: 1- Put the candy on the table 2- Put the candy on the table 3- Put the candy on the table 4- Put the candy on the table 5- Put the candy on the table 6- Put the candy on the table 7- Put the candy on the table 8- Put the candy on the candy 9- Put the candy on the candy 10- Put the candy on the candy Q: immediate next step? \u003cPRED\u003eA: Put the candy on the candy\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the candy on the candy Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the candy on the candy\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Remove red unreal dark chocolate bars from the tray. last 20 steps: 1- Put the candy on the table 2- Put the candy on the table 3- Put the candy on the table 4- Put the candy on the table 5- Put the candy on the table 6- Put the candy on the table 7- Put the candy on the table 8- Put the candy on the candy 9- Put the candy on the candy 10- Put the candy on the candy Q: next 5 steps? \u003cPRED\u003eA: 1- Put the candy on the candy 2- Put the candy on the candy 3- Put the candy on the candy 4- Put the candy on the candy 5- Put the candy on the candy\n\u003c/PRED\u003e","video":"11140857476729814048.mp4"}
+{"uid":"15479621621200714900","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the orange packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the orange packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the orange packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- place packet on the table 2- place packet on the table 3- place packet on the table 4- put packet on the table 5- place packet on the table Q: immediate next step? \u003cPRED\u003eA: Put the orange packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- place packet on the table 2- place packet on the table 3- place packet on the table 4- put packet on the table 5- place packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the orange packet on the table 2- Put the orange packet on the table 3- place packet on the table 4- place packet on the table 5- put packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the orange packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: Put the orange packet on the table\n\u003c/PRED\u003e","video":"4283852987874589982.mp4"}
+{"uid":"4240164369004973850","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the blue pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5961643675976093602.mp4"}
+{"uid":"18230888570419969959","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the orange packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the orange packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- place packet on the table 2- place packet on the table 3- place packet on the table 4- put packet on the table 5- place packet on the table 6- place packet on the table 7- Put the orange packet on the table 8- place packet on the table 9- place packet on the table Q: immediate next step? \u003cPRED\u003eA: Put the orange packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: Put the orange packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the orange packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- place packet on the table 2- place packet on the table 3- place packet on the table 4- put packet on the table 5- place packet on the table 6- place packet on the table 7- Put the orange packet on the table 8- place packet on the table 9- place packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the orange packet on the table 2- done\n\u003c/PRED\u003e","video":"14002536549318669550.mp4"}
+{"uid":"4554528363022230147","text":"\u003ctask:success:discrete:True\u003e\nPut the candy on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the candy on the table\n\u003c/PRED\u003e","video":"5150636046936518154.mp4"}
+{"uid":"1439092361912981520","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Remove red unreal dark chocolate bars from the tray. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Put the candy on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the candy on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the candy on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Remove red unreal dark chocolate bars from the tray. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Put the candy on the table 2- Put the candy on the table 3- Put the candy on the table 4- Put the candy on the table 5- Put the candy on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Remove red unreal dark chocolate bars from the tray. Q: immediate next step? \u003cPRED\u003eA: Put the candy on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the candy on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the candy on the table\n\u003c/PRED\u003e","video":"17934848146789119569.mp4"}
+{"uid":"16971475626019272996","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the orange in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14899480979415719554.mp4"}
+{"uid":"16604726976917689758","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the can on a table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8070304866059557747.mp4"}
+{"uid":"7448553124192642358","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the white packet in the container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13877019198245461649.mp4"}
+{"uid":"15757593386739367715","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the sticky note in the glass tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17617967516409468919.mp4"}
+{"uid":"16720103895695278951","text":"\u003ctask:success:discrete:False\u003e\nPut the orange packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the orange packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the orange packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: Put the orange packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the orange packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- place packet on the table 2- place packet on the table 3- place packet on the table 4- put packet on the table 5- place packet on the table 6- place packet on the table 7- Put the orange packet on the table Q: immediate next step? \u003cPRED\u003eA: Put the orange packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- place packet on the table 2- place packet on the table 3- place packet on the table 4- put packet on the table 5- place packet on the table 6- place packet on the table 7- Put the orange packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the orange packet on the table 2- place packet on the table 3- put packet on the table 4- done\n\u003c/PRED\u003e","video":"1565215431309349701.mp4"}
+{"uid":"11450942440397055525","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- place packet on the table 2- place packet on the table 3- place packet on the table 4- put packet on the table 5- place packet on the table 6- place packet on the table 7- Put the orange packet on the table 8- place packet on the table 9- place packet on the table 10- put packet on the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- place packet on the table 2- place packet on the table 3- place packet on the table 4- put packet on the table 5- place packet on the table 6- place packet on the table 7- Put the orange packet on the table 8- place packet on the table 9- place packet on the table 10- put packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"8913556019988097672.mp4"}
+{"uid":"17059971169821766866","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut orange packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2467201547051975492.mp4"}
+{"uid":"16289539630726009353","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: place packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- place packet on the table 2- place packet on the table 3- place packet on the table Q: immediate next step? \u003cPRED\u003eA: place packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- place packet on the table 2- place packet on the table 3- place packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place packet on the table 2- place packet on the table 3- place packet on the table 4- Put the orange packet on the table 5- place packet on the table\n\u003c/PRED\u003e","video":"10776507818582948257.mp4"}
+{"uid":"11783684274705380461","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npickup blue color packet kept on the table and place it in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12250200513239835348.mp4"}
+{"uid":"736422382396228501","text":"\u003ctask:success:discrete:False\u003e\nplace packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: place packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- place packet on the table 2- place packet on the table 3- place packet on the table 4- put packet on the table 5- place packet on the table 6- place packet on the table 7- Put the orange packet on the table 8- place packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place packet on the table 2- put packet on the table 3- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- place packet on the table 2- place packet on the table 3- place packet on the table 4- put packet on the table 5- place packet on the table 6- place packet on the table 7- Put the orange packet on the table 8- place packet on the table Q: immediate next step? \u003cPRED\u003eA: place packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place packet on the table\n\u003c/PRED\u003e","video":"10425753831953116341.mp4"}
+{"uid":"13814667200604352615","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3521821217925804835.mp4"}
+{"uid":"17292739857312422460","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nopen the carbon box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13269862655348045808.mp4"}
+{"uid":"5762968774465504864","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput yellow packet in white bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13683045850317677083.mp4"}
+{"uid":"8503812976857186730","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Remove red unreal dark chocolate bars from the tray. Q: immediate next step? \u003cPRED\u003eA: Put the candy on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Remove red unreal dark chocolate bars from the tray. last 20 steps: 1- Put the candy on the table 2- Put the candy on the table 3- Put the candy on the table 4- Put the candy on the table 5- Put the candy on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the candy on the table 2- Put the candy on the table 3- Put the candy on the candy 4- Put the candy on the candy 5- Put the candy on the candy\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the candy on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the candy on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Remove red unreal dark chocolate bars from the tray. last 20 steps: 1- Put the candy on the table 2- Put the candy on the table 3- Put the candy on the table 4- Put the candy on the table 5- Put the candy on the table Q: immediate next step? \u003cPRED\u003eA: Put the candy on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the candy on the table\n\u003c/PRED\u003e","video":"5012880206318753862.mp4"}
+{"uid":"5983452802798159244","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Remove red unreal dark chocolate bars from the tray. last 20 steps: 1- Put the candy on the table 2- Put the candy on the table 3- Put the candy on the table 4- Put the candy on the table 5- Put the candy on the table 6- Put the candy on the table 7- Put the candy on the table 8- Put the candy on the candy 9- Put the candy on the candy 10- Put the candy on the candy 11- Put the candy on the candy 12- Put the candy on the candy Q: next 5 steps? \u003cPRED\u003eA: 1- Put the candy on the candy 2- Put the candy on the candy 3- Put the candy on the candy 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the candy on the candy\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Remove red unreal dark chocolate bars from the tray. Q: immediate next step? \u003cPRED\u003eA: Put the candy on the candy\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the candy on the candy\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Remove red unreal dark chocolate bars from the tray. last 20 steps: 1- Put the candy on the table 2- Put the candy on the table 3- Put the candy on the table 4- Put the candy on the table 5- Put the candy on the table 6- Put the candy on the table 7- Put the candy on the table 8- Put the candy on the candy 9- Put the candy on the candy 10- Put the candy on the candy 11- Put the candy on the candy 12- Put the candy on the candy Q: immediate next step? \u003cPRED\u003eA: Put the candy on the candy\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the candy on the candy Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9993098235502814965.mp4"}
+{"uid":"4425788639800576362","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the yellow candy into the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17456236478154737754.mp4"}
+{"uid":"847592916869355774","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- place packet on the table 2- place packet on the table 3- place packet on the table 4- put packet on the table 5- place packet on the table 6- place packet on the table 7- Put the orange packet on the table 8- place packet on the table 9- place packet on the table Q: immediate next step? \u003cPRED\u003eA: place packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- place packet on the table 2- place packet on the table 3- place packet on the table 4- put packet on the table 5- place packet on the table 6- place packet on the table 7- Put the orange packet on the table 8- place packet on the table 9- place packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place packet on the table 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: place packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place packet on the table\n\u003c/PRED\u003e","video":"4050152213238985600.mp4"}
+{"uid":"4060495981165215061","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput orange candy in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14560276218062545125.mp4"}
+{"uid":"7227294285150917973","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the nacho packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15887726974470865594.mp4"}
+{"uid":"16823916745254724259","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: Put the orange packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- place packet on the table 2- place packet on the table 3- place packet on the table 4- put packet on the table 5- place packet on the table 6- place packet on the table 7- Put the orange packet on the table 8- place packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the orange packet on the table 2- put packet on the table 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- place packet on the table 2- place packet on the table 3- place packet on the table 4- put packet on the table 5- place packet on the table 6- place packet on the table 7- Put the orange packet on the table 8- place packet on the table Q: immediate next step? \u003cPRED\u003eA: Put the orange packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the orange packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the orange packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the orange packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the orange packet on the table\n\u003c/PRED\u003e","video":"6147783112266682851.mp4"}
+{"uid":"15499137434923969636","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the packet in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17011264367108391745.mp4"}
+{"uid":"1700172628224633946","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput pins in organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"567363748214337654.mp4"}
+{"uid":"9981936659260878857","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- place packet on the table 2- place packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put packet on the table 2- put packet on the table 3- place packet on the table 4- place packet on the table 5- Put the orange packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- place packet on the table 2- place packet on the table Q: immediate next step? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e","video":"13906269162312149125.mp4"}
+{"uid":"4728745258205270323","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the orange on a table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1083170671818214703.mp4"}
+{"uid":"5889905530598393301","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Remove red unreal dark chocolate bars from the tray. Q: immediate next step? \u003cPRED\u003eA: Put the candy on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Remove red unreal dark chocolate bars from the tray. last 20 steps: 1- Put the candy on the table Q: immediate next step? \u003cPRED\u003eA: Put the candy on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the candy on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the candy on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the candy on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Remove red unreal dark chocolate bars from the tray. last 20 steps: 1- Put the candy on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the candy on the table 2- Put the candy on the table 3- Put the candy on the table 4- Put the candy on the table 5- Put the candy on the table\n\u003c/PRED\u003e","video":"2308091442076058791.mp4"}
+{"uid":"7936826370456178599","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- place packet on the table 2- place packet on the table 3- place packet on the table 4- put packet on the table Q: immediate next step? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- place packet on the table 2- place packet on the table 3- place packet on the table 4- put packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put packet on the table 2- place packet on the table 3- Put the orange packet on the table 4- place packet on the table 5- place packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e","video":"8111493268685180009.mp4"}
+{"uid":"16488388491826287181","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- place packet on the table 2- place packet on the table 3- place packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put packet on the table 2- place packet on the table 3- place packet on the table 4- Put the orange packet on the table 5- place packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- place packet on the table 2- place packet on the table 3- place packet on the table Q: immediate next step? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e","video":"9381635797704391949.mp4"}
+{"uid":"11728270888778719952","text":"\u003ctask:success:discrete:True\u003e\nPut the candy on the candy Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the candy on the candy\n\u003c/PRED\u003e","video":"10643604554453597374.mp4"}
+{"uid":"5513435273359504293","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- place packet on the table 2- place packet on the table 3- place packet on the table 4- put packet on the table 5- place packet on the table 6- place packet on the table 7- Put the orange packet on the table Q: immediate next step? \u003cPRED\u003eA: place packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: place packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- place packet on the table 2- place packet on the table 3- place packet on the table 4- put packet on the table 5- place packet on the table 6- place packet on the table 7- Put the orange packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place packet on the table 2- place packet on the table 3- put packet on the table 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12573791010140898756.mp4"}
+{"uid":"17637158937757122602","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- place packet on the table 2- place packet on the table 3- place packet on the table 4- put packet on the table 5- place packet on the table 6- place packet on the table 7- Put the orange packet on the table 8- place packet on the table 9- place packet on the table Q: immediate next step? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- place packet on the table 2- place packet on the table 3- place packet on the table 4- put packet on the table 5- place packet on the table 6- place packet on the table 7- Put the orange packet on the table 8- place packet on the table 9- place packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put packet on the table 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8656068461461035900.mp4"}
+{"uid":"9860930708419571909","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- place packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the brown packet on the table 2- place packet on the table 3- put packet on the table 4- place packet on the table 5- place packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- place packet on the table Q: immediate next step? \u003cPRED\u003eA: Put the brown packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the brown packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the brown packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the brown packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: Put the brown packet on the table\n\u003c/PRED\u003e","video":"17428890326122976205.mp4"}
+{"uid":"10479999044519518996","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the pista into the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5466564454331717492.mp4"}
+{"uid":"1559820593869742520","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npush the white glass off the table on the floor Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3197743054708952290.mp4"}
+{"uid":"10967937338686064273","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the candy on the candy Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Remove red unreal dark chocolate bars from the tray. last 20 steps: 1- Put the candy on the table 2- Put the candy on the table 3- Put the candy on the table 4- Put the candy on the table 5- Put the candy on the table 6- Put the candy on the table 7- Put the candy on the table 8- Put the candy on the candy 9- Put the candy on the candy Q: next 5 steps? \u003cPRED\u003eA: 1- Put the candy on the candy 2- Put the candy on the candy 3- Put the candy on the candy 4- Put the candy on the candy 5- Put the candy on the candy\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the candy on the candy\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Remove red unreal dark chocolate bars from the tray. Q: immediate next step? \u003cPRED\u003eA: Put the candy on the candy\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the candy on the candy\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Remove red unreal dark chocolate bars from the tray. last 20 steps: 1- Put the candy on the table 2- Put the candy on the table 3- Put the candy on the table 4- Put the candy on the table 5- Put the candy on the table 6- Put the candy on the table 7- Put the candy on the table 8- Put the candy on the candy 9- Put the candy on the candy Q: immediate next step? \u003cPRED\u003eA: Put the candy on the candy\n\u003c/PRED\u003e","video":"15865831592960371176.mp4"}
+{"uid":"9901105964915987916","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the toy chili on the table. Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18067656649662661677.mp4"}
+{"uid":"5116637407187145055","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place packet on the table 2- place packet on the table 3- place packet on the table 4- put packet on the table 5- place packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: place packet on the table\n\u003c/PRED\u003e","video":"6817893421022198179.mp4"}
+{"uid":"15405216100523374425","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove arm forward Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3227637262272429389.mp4"}
+{"uid":"16501736254755922358","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the candy in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3025855647566761896.mp4"}
+{"uid":"4032228016819066724","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the wire in box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8210794889789893236.mp4"}
+{"uid":"402290264108318562","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up the can Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17522529466269424435.mp4"}
+{"uid":"4700093362607625598","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: place packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- place packet on the table 2- place packet on the table 3- place packet on the table 4- put packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place packet on the table 2- place packet on the table 3- Put the orange packet on the table 4- place packet on the table 5- place packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- place packet on the table 2- place packet on the table 3- place packet on the table 4- put packet on the table Q: immediate next step? \u003cPRED\u003eA: place packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6753152826277576822.mp4"}
+{"uid":"9775886912815683592","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the candy on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Remove red unreal dark chocolate bars from the tray. last 20 steps: 1- Put the candy on the table 2- Put the candy on the table Q: immediate next step? \u003cPRED\u003eA: Put the candy on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Remove red unreal dark chocolate bars from the tray. Q: immediate next step? \u003cPRED\u003eA: Put the candy on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the candy on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the candy on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Remove red unreal dark chocolate bars from the tray. last 20 steps: 1- Put the candy on the table 2- Put the candy on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the candy on the table 2- Put the candy on the table 3- Put the candy on the table 4- Put the candy on the table 5- Put the candy on the table\n\u003c/PRED\u003e","video":"8438262169339752793.mp4"}
+{"uid":"16466192073933190157","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- place packet on the table 2- place packet on the table 3- place packet on the table 4- put packet on the table 5- place packet on the table 6- place packet on the table 7- Put the orange packet on the table Q: immediate next step? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- place packet on the table 2- place packet on the table 3- place packet on the table 4- put packet on the table 5- place packet on the table 6- place packet on the table 7- Put the orange packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put packet on the table 2- place packet on the table 3- put packet on the table 4- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7964705925779582397.mp4"}
+{"uid":"10229887032894350073","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- place packet on the table Q: immediate next step? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- place packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put packet on the table 2- place packet on the table 3- put packet on the table 4- place packet on the table 5- place packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e","video":"14195549102840146487.mp4"}
+{"uid":"9610061988701161864","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the blue packet in the glass jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5270782913517167954.mp4"}
+{"uid":"14044940358953283617","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2761413417702607763.mp4"}
+{"uid":"5734184235022792286","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Remove red unreal dark chocolate bars from the tray. last 20 steps: 1- Put the candy on the table 2- Put the candy on the table 3- Put the candy on the table 4- Put the candy on the table 5- Put the candy on the table 6- Put the candy on the table 7- Put the candy on the table 8- Put the candy on the candy 9- Put the candy on the candy 10- Put the candy on the candy 11- Put the candy on the candy 12- Put the candy on the candy 13- Put the candy on the candy Q: immediate next step? \u003cPRED\u003eA: Put the candy on the candy\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the candy on the candy Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Remove red unreal dark chocolate bars from the tray. Q: immediate next step? \u003cPRED\u003eA: Put the candy on the candy\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Remove red unreal dark chocolate bars from the tray. last 20 steps: 1- Put the candy on the table 2- Put the candy on the table 3- Put the candy on the table 4- Put the candy on the table 5- Put the candy on the table 6- Put the candy on the table 7- Put the candy on the table 8- Put the candy on the candy 9- Put the candy on the candy 10- Put the candy on the candy 11- Put the candy on the candy 12- Put the candy on the candy 13- Put the candy on the candy Q: next 5 steps? \u003cPRED\u003eA: 1- Put the candy on the candy 2- Put the candy on the candy 3- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the candy on the candy\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the candy on the candy\n\u003c/PRED\u003e","video":"1244304516019643077.mp4"}
+{"uid":"14806226864506171508","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput white packet in left bowls Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15574829296407657251.mp4"}
+{"uid":"10699777871986042202","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput packet in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"374662603905607276.mp4"}
+{"uid":"5312223363584976083","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- place packet on the table 2- place packet on the table 3- place packet on the table 4- put packet on the table 5- place packet on the table 6- place packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place packet on the table 2- place packet on the table 3- place packet on the table 4- put packet on the table 5- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: place packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- place packet on the table 2- place packet on the table 3- place packet on the table 4- put packet on the table 5- place packet on the table 6- place packet on the table Q: immediate next step? \u003cPRED\u003eA: place packet on the table\n\u003c/PRED\u003e","video":"10590799337464402354.mp4"}
+{"uid":"1847115034537653272","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: Put the brown packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the brown packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- place packet on the table 2- place packet on the table Q: immediate next step? \u003cPRED\u003eA: Put the brown packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the brown packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the brown packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- place packet on the table 2- place packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the brown packet on the table 2- put packet on the table 3- place packet on the table 4- place packet on the table 5- Put the orange packet on the table\n\u003c/PRED\u003e","video":"10068232111209405597.mp4"}
+{"uid":"2894841581514762768","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- place packet on the table 2- place packet on the table 3- place packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the brown packet on the table 2- place packet on the table 3- place packet on the table 4- Put the orange packet on the table 5- place packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the brown packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the brown packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the brown packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: Put the brown packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- place packet on the table 2- place packet on the table 3- place packet on the table Q: immediate next step? \u003cPRED\u003eA: Put the brown packet on the table\n\u003c/PRED\u003e","video":"14093918242854415854.mp4"}
+{"uid":"10423843481073247703","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Remove red unreal dark chocolate bars from the tray. Q: immediate next step? \u003cPRED\u003eA: Put the candy on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the candy on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Remove red unreal dark chocolate bars from the tray. last 20 steps: 1- Put the candy on the table 2- Put the candy on the table 3- Put the candy on the table 4- Put the candy on the table Q: immediate next step? \u003cPRED\u003eA: Put the candy on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the candy on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Remove red unreal dark chocolate bars from the tray. last 20 steps: 1- Put the candy on the table 2- Put the candy on the table 3- Put the candy on the table 4- Put the candy on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the candy on the table 2- Put the candy on the table 3- Put the candy on the table 4- Put the candy on the candy 5- Put the candy on the candy\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the candy on the table\n\u003c/PRED\u003e","video":"7899264014814708066.mp4"}
+{"uid":"12789584898993891694","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the yellow candy in the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13987090515439224348.mp4"}
+{"uid":"8050066672573559725","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: place packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- place packet on the table 2- place packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place packet on the table 2- put packet on the table 3- place packet on the table 4- place packet on the table 5- Put the orange packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- place packet on the table 2- place packet on the table Q: immediate next step? \u003cPRED\u003eA: place packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place packet on the table\n\u003c/PRED\u003e","video":"1730296620481621211.mp4"}
+{"uid":"11521234362099821268","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nRotate the stand clockwise Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12765679558867523327.mp4"}
+{"uid":"8190063531424774994","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- place packet on the table 2- place packet on the table 3- place packet on the table 4- put packet on the table 5- place packet on the table 6- place packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put packet on the table 2- place packet on the table 3- place packet on the table 4- put packet on the table 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- place packet on the table 2- place packet on the table 3- place packet on the table 4- put packet on the table 5- place packet on the table 6- place packet on the table Q: immediate next step? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e","video":"5160869803126949560.mp4"}
+{"uid":"14287581573932966767","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the candy on the candy Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Remove red unreal dark chocolate bars from the tray. Q: immediate next step? \u003cPRED\u003eA: Put the candy on the candy\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the candy on the candy\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Remove red unreal dark chocolate bars from the tray. last 20 steps: 1- Put the candy on the table 2- Put the candy on the table 3- Put the candy on the table 4- Put the candy on the table 5- Put the candy on the table 6- Put the candy on the table 7- Put the candy on the table 8- Put the candy on the candy Q: immediate next step? \u003cPRED\u003eA: Put the candy on the candy\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the candy on the candy\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Remove red unreal dark chocolate bars from the tray. last 20 steps: 1- Put the candy on the table 2- Put the candy on the table 3- Put the candy on the table 4- Put the candy on the table 5- Put the candy on the table 6- Put the candy on the table 7- Put the candy on the table 8- Put the candy on the candy Q: next 5 steps? \u003cPRED\u003eA: 1- Put the candy on the candy 2- Put the candy on the candy 3- Put the candy on the candy 4- Put the candy on the candy 5- Put the candy on the candy\n\u003c/PRED\u003e","video":"12561942088281369942.mp4"}
+{"uid":"1751752424671663708","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11897570811569372617.mp4"}
+{"uid":"12164683738535943232","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nopen top drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14752394257900829423.mp4"}
+{"uid":"12873534298605176677","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: keep fruit in bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nkeep fruit in bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13666205370985417553.mp4"}
+{"uid":"15708987050583826995","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the pen in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with pink and red supplies than put it back into the cabinet for me. last 20 steps: 1- Place the binder clip in the tray 2- Place the binder clip in the tray 3- Place the binder clip in the tray 4- Place the binder clip in the tray 5- Place the binder clip in the tray 6- Place the marker in the tray 7- Place the marker in the tray 8- Place the marker in the tray 9- Place the sticky notes in the tray 10- Place the sticky notes in the tray 11- Place the binder clip in the tray 12- Place the binder clip in the tray 13- Place the pen in the tray 14- Place the pen in the tray 15- Place the pen in the tray Q: immediate next step? \u003cPRED\u003eA: Place the pen in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the pen in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with pink and red supplies than put it back into the cabinet for me. last 20 steps: 1- Place the binder clip in the tray 2- Place the binder clip in the tray 3- Place the binder clip in the tray 4- Place the binder clip in the tray 5- Place the binder clip in the tray 6- Place the marker in the tray 7- Place the marker in the tray 8- Place the marker in the tray 9- Place the sticky notes in the tray 10- Place the sticky notes in the tray 11- Place the binder clip in the tray 12- Place the binder clip in the tray 13- Place the pen in the tray 14- Place the pen in the tray 15- Place the pen in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Place the pen in the tray 2- Place the pen in the tray 3- Place the pen in the tray 4- Place the pen in the tray 5- Place the pen in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the pen in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with pink and red supplies than put it back into the cabinet for me. Q: immediate next step? \u003cPRED\u003eA: Place the pen in the tray\n\u003c/PRED\u003e","video":"11988957655082059412.mp4"}
+{"uid":"3542308065800270371","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack the glasses on the existing glass stack in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"587773977048961515.mp4"}
+{"uid":"11014653666430244221","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the pink cup in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"293610173740665303.mp4"}
+{"uid":"6084411845725288084","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with pink and red supplies than put it back into the cabinet for me. last 20 steps: 1- Place the binder clip in the tray 2- Place the binder clip in the tray 3- Place the binder clip in the tray 4- Place the binder clip in the tray 5- Place the binder clip in the tray 6- Place the marker in the tray 7- Place the marker in the tray 8- Place the marker in the tray 9- Place the sticky notes in the tray 10- Place the sticky notes in the tray 11- Place the binder clip in the tray 12- Place the binder clip in the tray 13- Place the pen in the tray Q: immediate next step? \u003cPRED\u003eA: Place the pen in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the pen in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with pink and red supplies than put it back into the cabinet for me. last 20 steps: 1- Place the binder clip in the tray 2- Place the binder clip in the tray 3- Place the binder clip in the tray 4- Place the binder clip in the tray 5- Place the binder clip in the tray 6- Place the marker in the tray 7- Place the marker in the tray 8- Place the marker in the tray 9- Place the sticky notes in the tray 10- Place the sticky notes in the tray 11- Place the binder clip in the tray 12- Place the binder clip in the tray 13- Place the pen in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Place the pen in the tray 2- Place the pen in the tray 3- Place the pen in the tray 4- Place the pen in the tray 5- Place the pen in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with pink and red supplies than put it back into the cabinet for me. Q: immediate next step? \u003cPRED\u003eA: Place the pen in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the pen in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the pen in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5425782681153643883.mp4"}
+{"uid":"1820504905780449120","text":"\u003ctask:success:discrete:True\u003e\nput the orange in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the orange in the bowl\n\u003c/PRED\u003e","video":"6628063082447395783.mp4"}
+{"uid":"12673841187352703636","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with pink and red supplies than put it back into the cabinet for me. Q: immediate next step? \u003cPRED\u003eA: Place the pen in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the pen in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with pink and red supplies than put it back into the cabinet for me. last 20 steps: 1- Place the binder clip in the tray 2- Place the binder clip in the tray 3- Place the binder clip in the tray 4- Place the binder clip in the tray 5- Place the binder clip in the tray 6- Place the marker in the tray 7- Place the marker in the tray 8- Place the marker in the tray 9- Place the sticky notes in the tray 10- Place the sticky notes in the tray 11- Place the binder clip in the tray 12- Place the binder clip in the tray 13- Place the pen in the tray 14- Place the pen in the tray 15- Place the pen in the tray 16- Place the pen in the tray 17- Place the pen in the tray 18- Place the pen in the tray Q: immediate next step? \u003cPRED\u003eA: Place the pen in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the pen in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the pen in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with pink and red supplies than put it back into the cabinet for me. last 20 steps: 1- Place the binder clip in the tray 2- Place the binder clip in the tray 3- Place the binder clip in the tray 4- Place the binder clip in the tray 5- Place the binder clip in the tray 6- Place the marker in the tray 7- Place the marker in the tray 8- Place the marker in the tray 9- Place the sticky notes in the tray 10- Place the sticky notes in the tray 11- Place the binder clip in the tray 12- Place the binder clip in the tray 13- Place the pen in the tray 14- Place the pen in the tray 15- Place the pen in the tray 16- Place the pen in the tray 17- Place the pen in the tray 18- Place the pen in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Place the pen in the tray 2- Place the pen in the tray 3- open the cupboard 4- done\n\u003c/PRED\u003e","video":"3887640634640386312.mp4"}
+{"uid":"15328244104316375306","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nkeep fruit in bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: stock the fruit bowl with oranges. last 20 steps: 1- put the orange in the bowl 2- keep fruit in bowl Q: next 5 steps? \u003cPRED\u003eA: 1- keep fruit in bowl 2- keep fruit in bowl 3- keep fruit in bowl 4- keep fruit in bowl 5- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: keep fruit in bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nkeep fruit in bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: stock the fruit bowl with oranges. Q: immediate next step? \u003cPRED\u003eA: keep fruit in bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: stock the fruit bowl with oranges. last 20 steps: 1- put the orange in the bowl 2- keep fruit in bowl Q: immediate next step? \u003cPRED\u003eA: keep fruit in bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: keep fruit in bowl\n\u003c/PRED\u003e","video":"6214405933928127266.mp4"}
+{"uid":"3634209378143474296","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the marker in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the marker in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with pink and red supplies than put it back into the cabinet for me. last 20 steps: 1- Place the binder clip in the tray 2- Place the binder clip in the tray 3- Place the binder clip in the tray 4- Place the binder clip in the tray 5- Place the binder clip in the tray 6- Place the marker in the tray Q: immediate next step? \u003cPRED\u003eA: Place the marker in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with pink and red supplies than put it back into the cabinet for me. Q: immediate next step? \u003cPRED\u003eA: Place the marker in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with pink and red supplies than put it back into the cabinet for me. last 20 steps: 1- Place the binder clip in the tray 2- Place the binder clip in the tray 3- Place the binder clip in the tray 4- Place the binder clip in the tray 5- Place the binder clip in the tray 6- Place the marker in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Place the marker in the tray 2- Place the marker in the tray 3- Place the sticky notes in the tray 4- Place the sticky notes in the tray 5- Place the binder clip in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the marker in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17163455920536578834.mp4"}
+{"uid":"14123333799517341262","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: stock the fruit bowl with oranges. last 20 steps: 1- put the orange in the bowl 2- keep fruit in bowl 3- put the orange in the bowl 4- keep fruit in bowl Q: immediate next step? \u003cPRED\u003eA: keep fruit in bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nkeep fruit in bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: keep fruit in bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: stock the fruit bowl with oranges. Q: immediate next step? \u003cPRED\u003eA: keep fruit in bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: stock the fruit bowl with oranges. last 20 steps: 1- put the orange in the bowl 2- keep fruit in bowl 3- put the orange in the bowl 4- keep fruit in bowl Q: next 5 steps? \u003cPRED\u003eA: 1- keep fruit in bowl 2- keep fruit in bowl 3- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: keep fruit in bowl\n\u003c/PRED\u003e","video":"11999736713108791428.mp4"}
+{"uid":"17431714656275685845","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput green candy in the organiser Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3841698163811175509.mp4"}
+{"uid":"8207391550209772376","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the orange in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the orange in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2118530562617704782.mp4"}
+{"uid":"2579702080726752961","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with pink and red supplies than put it back into the cabinet for me. Q: immediate next step? \u003cPRED\u003eA: Place the pen in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the pen in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with pink and red supplies than put it back into the cabinet for me. last 20 steps: 1- Place the binder clip in the tray 2- Place the binder clip in the tray 3- Place the binder clip in the tray 4- Place the binder clip in the tray 5- Place the binder clip in the tray 6- Place the marker in the tray 7- Place the marker in the tray 8- Place the marker in the tray 9- Place the sticky notes in the tray 10- Place the sticky notes in the tray 11- Place the binder clip in the tray 12- Place the binder clip in the tray 13- Place the pen in the tray 14- Place the pen in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Place the pen in the tray 2- Place the pen in the tray 3- Place the pen in the tray 4- Place the pen in the tray 5- Place the pen in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the pen in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with pink and red supplies than put it back into the cabinet for me. last 20 steps: 1- Place the binder clip in the tray 2- Place the binder clip in the tray 3- Place the binder clip in the tray 4- Place the binder clip in the tray 5- Place the binder clip in the tray 6- Place the marker in the tray 7- Place the marker in the tray 8- Place the marker in the tray 9- Place the sticky notes in the tray 10- Place the sticky notes in the tray 11- Place the binder clip in the tray 12- Place the binder clip in the tray 13- Place the pen in the tray 14- Place the pen in the tray Q: immediate next step? \u003cPRED\u003eA: Place the pen in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the pen in the tray\n\u003c/PRED\u003e","video":"7659950317694613507.mp4"}
+{"uid":"17969607076051734805","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the cup on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8630448750125213149.mp4"}
+{"uid":"9863401421978693685","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput brown sugar packet in the box tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"245068782882250734.mp4"}
+{"uid":"4443481327655245275","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with pink and red supplies than put it back into the cabinet for me. last 20 steps: 1- Place the binder clip in the tray 2- Place the binder clip in the tray 3- Place the binder clip in the tray 4- Place the binder clip in the tray 5- Place the binder clip in the tray 6- Place the marker in the tray 7- Place the marker in the tray 8- Place the marker in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Place the sticky notes in the tray 2- Place the sticky notes in the tray 3- Place the binder clip in the tray 4- Place the binder clip in the tray 5- Place the pen in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with pink and red supplies than put it back into the cabinet for me. last 20 steps: 1- Place the binder clip in the tray 2- Place the binder clip in the tray 3- Place the binder clip in the tray 4- Place the binder clip in the tray 5- Place the binder clip in the tray 6- Place the marker in the tray 7- Place the marker in the tray 8- Place the marker in the tray Q: immediate next step? \u003cPRED\u003eA: Place the sticky notes in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with pink and red supplies than put it back into the cabinet for me. Q: immediate next step? \u003cPRED\u003eA: Place the sticky notes in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the sticky notes in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the sticky notes in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the sticky notes in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the sticky notes in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1348901515168001245.mp4"}
+{"uid":"15537096473322305782","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the marker in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with pink and red supplies than put it back into the cabinet for me. last 20 steps: 1- Place the binder clip in the tray 2- Place the binder clip in the tray 3- Place the binder clip in the tray 4- Place the binder clip in the tray 5- Place the binder clip in the tray Q: immediate next step? \u003cPRED\u003eA: Place the marker in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with pink and red supplies than put it back into the cabinet for me. last 20 steps: 1- Place the binder clip in the tray 2- Place the binder clip in the tray 3- Place the binder clip in the tray 4- Place the binder clip in the tray 5- Place the binder clip in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Place the marker in the tray 2- Place the marker in the tray 3- Place the marker in the tray 4- Place the sticky notes in the tray 5- Place the sticky notes in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the marker in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the marker in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with pink and red supplies than put it back into the cabinet for me. Q: immediate next step? \u003cPRED\u003eA: Place the marker in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the marker in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12449801844179893377.mp4"}
+{"uid":"15917551472553479244","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with pink and red supplies than put it back into the cabinet for me. last 20 steps: 1- Place the binder clip in the tray 2- Place the binder clip in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Place the binder clip in the tray 2- Place the binder clip in the tray 3- Place the binder clip in the tray 4- Place the marker in the tray 5- Place the marker in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the binder clip in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with pink and red supplies than put it back into the cabinet for me. Q: immediate next step? \u003cPRED\u003eA: Place the binder clip in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the binder clip in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the binder clip in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with pink and red supplies than put it back into the cabinet for me. last 20 steps: 1- Place the binder clip in the tray 2- Place the binder clip in the tray Q: immediate next step? \u003cPRED\u003eA: Place the binder clip in the tray\n\u003c/PRED\u003e","video":"14817335458855856976.mp4"}
+{"uid":"11430489947373091512","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut orange packet in the white tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5795778600385054763.mp4"}
+{"uid":"9507583669718750027","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput white packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15534482091710336345.mp4"}
+{"uid":"3476766770790766453","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2053571801312547991.mp4"}
+{"uid":"1206039050806866345","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the lid on the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8786410432763891500.mp4"}
+{"uid":"15372017544107181064","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace marker in container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"854355528285403013.mp4"}
+{"uid":"34196044327874686","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput blue on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15147414192281167092.mp4"}
+{"uid":"3202750494924436879","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6654983614981647952.mp4"}
+{"uid":"307041125725001011","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the paper on the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7363850137599103089.mp4"}
+{"uid":"11153008647124036959","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the marker in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with pink and red supplies than put it back into the cabinet for me. last 20 steps: 1- Place the binder clip in the tray 2- Place the binder clip in the tray 3- Place the binder clip in the tray 4- Place the binder clip in the tray 5- Place the binder clip in the tray 6- Place the marker in the tray 7- Place the marker in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Place the marker in the tray 2- Place the sticky notes in the tray 3- Place the sticky notes in the tray 4- Place the binder clip in the tray 5- Place the binder clip in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with pink and red supplies than put it back into the cabinet for me. Q: immediate next step? \u003cPRED\u003eA: Place the marker in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with pink and red supplies than put it back into the cabinet for me. last 20 steps: 1- Place the binder clip in the tray 2- Place the binder clip in the tray 3- Place the binder clip in the tray 4- Place the binder clip in the tray 5- Place the binder clip in the tray 6- Place the marker in the tray 7- Place the marker in the tray Q: immediate next step? \u003cPRED\u003eA: Place the marker in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the marker in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the marker in the tray\n\u003c/PRED\u003e","video":"3141042893156212223.mp4"}
+{"uid":"7826716815280207257","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: keep fruit in bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nkeep fruit in bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: keep fruit in bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: stock the fruit bowl with oranges. Q: immediate next step? \u003cPRED\u003eA: keep fruit in bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: stock the fruit bowl with oranges. last 20 steps: 1- put the orange in the bowl Q: immediate next step? \u003cPRED\u003eA: keep fruit in bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: stock the fruit bowl with oranges. last 20 steps: 1- put the orange in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- keep fruit in bowl 2- put the orange in the bowl 3- keep fruit in bowl 4- keep fruit in bowl 5- keep fruit in bowl\n\u003c/PRED\u003e","video":"1482773569520008233.mp4"}
+{"uid":"6676887616465680632","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput red pen on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3340254255269844815.mp4"}
+{"uid":"9036228170925635649","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: keep fruit in bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nkeep fruit in bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10665720293926795569.mp4"}
+{"uid":"3343329677557380167","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with pink and red supplies than put it back into the cabinet for me. Q: immediate next step? \u003cPRED\u003eA: Place the pen in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the pen in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with pink and red supplies than put it back into the cabinet for me. last 20 steps: 1- Place the binder clip in the tray 2- Place the binder clip in the tray 3- Place the binder clip in the tray 4- Place the binder clip in the tray 5- Place the binder clip in the tray 6- Place the marker in the tray 7- Place the marker in the tray 8- Place the marker in the tray 9- Place the sticky notes in the tray 10- Place the sticky notes in the tray 11- Place the binder clip in the tray 12- Place the binder clip in the tray 13- Place the pen in the tray 14- Place the pen in the tray 15- Place the pen in the tray 16- Place the pen in the tray 17- Place the pen in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Place the pen in the tray 2- Place the pen in the tray 3- Place the pen in the tray 4- open the cupboard 5- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with pink and red supplies than put it back into the cabinet for me. last 20 steps: 1- Place the binder clip in the tray 2- Place the binder clip in the tray 3- Place the binder clip in the tray 4- Place the binder clip in the tray 5- Place the binder clip in the tray 6- Place the marker in the tray 7- Place the marker in the tray 8- Place the marker in the tray 9- Place the sticky notes in the tray 10- Place the sticky notes in the tray 11- Place the binder clip in the tray 12- Place the binder clip in the tray 13- Place the pen in the tray 14- Place the pen in the tray 15- Place the pen in the tray 16- Place the pen in the tray 17- Place the pen in the tray Q: immediate next step? \u003cPRED\u003eA: Place the pen in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the pen in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the pen in the tray\n\u003c/PRED\u003e","video":"8751964039960261916.mp4"}
+{"uid":"4549975051808154888","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput pink packet in organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18069970513585163380.mp4"}
+{"uid":"13562367808742820384","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the banana in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16766344037811254081.mp4"}
+{"uid":"13815433006072734699","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the packet in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16025450111411511051.mp4"}
+{"uid":"3194845166985052134","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: keep fruit in bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: stock the fruit bowl with oranges. Q: immediate next step? \u003cPRED\u003eA: keep fruit in bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: stock the fruit bowl with oranges. last 20 steps: 1- put the orange in the bowl 2- keep fruit in bowl 3- put the orange in the bowl Q: immediate next step? \u003cPRED\u003eA: keep fruit in bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nkeep fruit in bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: stock the fruit bowl with oranges. last 20 steps: 1- put the orange in the bowl 2- keep fruit in bowl 3- put the orange in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- keep fruit in bowl 2- keep fruit in bowl 3- keep fruit in bowl 4- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: keep fruit in bowl\n\u003c/PRED\u003e","video":"8389099272890797773.mp4"}
+{"uid":"14339791432027730109","text":"\u003ctask:success:discrete:True\u003e\nkeep fruit in bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: keep fruit in bowl\n\u003c/PRED\u003e","video":"14782593025887705291.mp4"}
+{"uid":"11895228517582999424","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1002472444648862746.mp4"}
+{"uid":"9604327594884101177","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the tissue in the stack Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4267707016855831533.mp4"}
+{"uid":"16907265339295401921","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with pink and red supplies than put it back into the cabinet for me. last 20 steps: 1- Place the binder clip in the tray 2- Place the binder clip in the tray 3- Place the binder clip in the tray 4- Place the binder clip in the tray 5- Place the binder clip in the tray 6- Place the marker in the tray 7- Place the marker in the tray 8- Place the marker in the tray 9- Place the sticky notes in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Place the sticky notes in the tray 2- Place the binder clip in the tray 3- Place the binder clip in the tray 4- Place the pen in the tray 5- Place the pen in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with pink and red supplies than put it back into the cabinet for me. last 20 steps: 1- Place the binder clip in the tray 2- Place the binder clip in the tray 3- Place the binder clip in the tray 4- Place the binder clip in the tray 5- Place the binder clip in the tray 6- Place the marker in the tray 7- Place the marker in the tray 8- Place the marker in the tray 9- Place the sticky notes in the tray Q: immediate next step? \u003cPRED\u003eA: Place the sticky notes in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the sticky notes in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the sticky notes in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the sticky notes in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with pink and red supplies than put it back into the cabinet for me. Q: immediate next step? \u003cPRED\u003eA: Place the sticky notes in the tray\n\u003c/PRED\u003e","video":"17562372941392367820.mp4"}
+{"uid":"16086046872935810403","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: stock the fruit bowl with oranges. last 20 steps: 1- put the orange in the bowl 2- keep fruit in bowl 3- put the orange in the bowl Q: immediate next step? \u003cPRED\u003eA: put the orange in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the orange in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the orange in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the orange in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the orange in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: stock the fruit bowl with oranges. last 20 steps: 1- put the orange in the bowl 2- keep fruit in bowl 3- put the orange in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the orange in the bowl 2- keep fruit in bowl 3- keep fruit in bowl 4- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: stock the fruit bowl with oranges. Q: immediate next step? \u003cPRED\u003eA: put the orange in the bowl\n\u003c/PRED\u003e","video":"6637108743963266178.mp4"}
+{"uid":"16724017099300809586","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: keep fruit in bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nkeep fruit in bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16700286128206538159.mp4"}
+{"uid":"11133745649148954652","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the binder clip in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the binder clip in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with pink and red supplies than put it back into the cabinet for me. last 20 steps: 1- Place the binder clip in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Place the binder clip in the tray 2- Place the binder clip in the tray 3- Place the binder clip in the tray 4- Place the binder clip in the tray 5- Place the marker in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with pink and red supplies than put it back into the cabinet for me. last 20 steps: 1- Place the binder clip in the tray Q: immediate next step? \u003cPRED\u003eA: Place the binder clip in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the binder clip in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with pink and red supplies than put it back into the cabinet for me. Q: immediate next step? \u003cPRED\u003eA: Place the binder clip in the tray\n\u003c/PRED\u003e","video":"12870370839012167570.mp4"}
+{"uid":"15774521212705716451","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: stock the fruit bowl with oranges. last 20 steps: 1- put the orange in the bowl 2- keep fruit in bowl 3- put the orange in the bowl 4- keep fruit in bowl 5- keep fruit in bowl 6- keep fruit in bowl Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nkeep fruit in bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: stock the fruit bowl with oranges. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: stock the fruit bowl with oranges. last 20 steps: 1- put the orange in the bowl 2- keep fruit in bowl 3- put the orange in the bowl 4- keep fruit in bowl 5- keep fruit in bowl 6- keep fruit in bowl Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: keep fruit in bowl\n\u003c/PRED\u003e","video":"440243678084085238.mp4"}
+{"uid":"6791055801930723666","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the orange in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the orange in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: stock the fruit bowl with oranges. last 20 steps: 1- put the orange in the bowl 2- keep fruit in bowl Q: immediate next step? \u003cPRED\u003eA: put the orange in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: stock the fruit bowl with oranges. last 20 steps: 1- put the orange in the bowl 2- keep fruit in bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the orange in the bowl 2- keep fruit in bowl 3- keep fruit in bowl 4- keep fruit in bowl 5- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the orange in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the orange in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: stock the fruit bowl with oranges. Q: immediate next step? \u003cPRED\u003eA: put the orange in the bowl\n\u003c/PRED\u003e","video":"6384988349063311435.mp4"}
+{"uid":"2128014898153853126","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the white packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3328294980197557751.mp4"}
+{"uid":"6356959224929197239","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the green packet in the organiser Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4317891195999674200.mp4"}
+{"uid":"6569447089584984221","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: stock the fruit bowl with oranges. last 20 steps: 1- put the orange in the bowl 2- keep fruit in bowl 3- put the orange in the bowl 4- keep fruit in bowl 5- keep fruit in bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the orange in the bowl 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the orange in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: stock the fruit bowl with oranges. last 20 steps: 1- put the orange in the bowl 2- keep fruit in bowl 3- put the orange in the bowl 4- keep fruit in bowl 5- keep fruit in bowl Q: immediate next step? \u003cPRED\u003eA: put the orange in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the orange in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the orange in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: stock the fruit bowl with oranges. Q: immediate next step? \u003cPRED\u003eA: put the orange in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the orange in the bowl\n\u003c/PRED\u003e","video":"3166307188504059763.mp4"}
+{"uid":"528151625319599299","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the white packet in the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6274507390739024689.mp4"}
+{"uid":"15923349334018055034","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: stock the fruit bowl with oranges. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- keep fruit in bowl 2- keep fruit in bowl 3- put the orange in the bowl 4- keep fruit in bowl 5- keep fruit in bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: keep fruit in bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: stock the fruit bowl with oranges. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: keep fruit in bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: stock the fruit bowl with oranges. Q: immediate next step? \u003cPRED\u003eA: keep fruit in bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nkeep fruit in bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nkeep fruit in bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: keep fruit in bowl\n\u003c/PRED\u003e","video":"6582109076765520815.mp4"}
+{"uid":"12292656582767217625","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the orange into the white bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: stock the fruit bowl with oranges. Q: immediate next step? \u003cPRED\u003eA: Place the orange into the white bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the orange into the white bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the orange into the white bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: stock the fruit bowl with oranges. last 20 steps: 1- put the orange in the bowl 2- keep fruit in bowl 3- put the orange in the bowl 4- keep fruit in bowl 5- keep fruit in bowl Q: immediate next step? \u003cPRED\u003eA: Place the orange into the white bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the orange into the white bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: stock the fruit bowl with oranges. last 20 steps: 1- put the orange in the bowl 2- keep fruit in bowl 3- put the orange in the bowl 4- keep fruit in bowl 5- keep fruit in bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Place the orange into the white bowl 2- done\n\u003c/PRED\u003e","video":"12642968998905961714.mp4"}
+{"uid":"5810139841150214427","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the orange into the white bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the orange into the white bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17571755711755529418.mp4"}
+{"uid":"8783880075949036147","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput plastic spoon in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6185384685165038665.mp4"}
+{"uid":"6370595329441505436","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick the hint bottle Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1057441199866700598.mp4"}
+{"uid":"6273842670085466699","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nSeparate the two plants Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3955782581228148933.mp4"}
+{"uid":"10268221857833032965","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: stock the fruit bowl with oranges. Q: immediate next step? \u003cPRED\u003eA: put the orange in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: stock the fruit bowl with oranges. last 20 steps: 1- put the orange in the bowl Q: immediate next step? \u003cPRED\u003eA: put the orange in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the orange in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the orange in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: stock the fruit bowl with oranges. last 20 steps: 1- put the orange in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the orange in the bowl 2- put the orange in the bowl 3- keep fruit in bowl 4- keep fruit in bowl 5- keep fruit in bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the orange in the bowl\n\u003c/PRED\u003e","video":"3780080354670262336.mp4"}
+{"uid":"5452322105337071280","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove to the hanger Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13247983371507369603.mp4"}
+{"uid":"17297339739014920595","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput glass on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1872396723096807508.mp4"}
+{"uid":"9694454885563986395","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the orange in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: stock the fruit bowl with oranges. Q: immediate next step? \u003cPRED\u003eA: put the orange in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the orange in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the orange in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: stock the fruit bowl with oranges. last 20 steps: 1- put the orange in the bowl 2- keep fruit in bowl 3- put the orange in the bowl 4- keep fruit in bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the orange in the bowl 2- keep fruit in bowl 3- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the orange in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: stock the fruit bowl with oranges. last 20 steps: 1- put the orange in the bowl 2- keep fruit in bowl 3- put the orange in the bowl 4- keep fruit in bowl Q: immediate next step? \u003cPRED\u003eA: put the orange in the bowl\n\u003c/PRED\u003e","video":"7343369575085179360.mp4"}
+{"uid":"701409461100631172","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: stock the fruit bowl with oranges. Q: immediate next step? \u003cPRED\u003eA: Place the orange into the white bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the orange into the white bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: stock the fruit bowl with oranges. last 20 steps: 1- put the orange in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Place the orange into the white bowl 2- put the orange in the bowl 3- keep fruit in bowl 4- keep fruit in bowl 5- keep fruit in bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the orange into the white bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: stock the fruit bowl with oranges. last 20 steps: 1- put the orange in the bowl Q: immediate next step? \u003cPRED\u003eA: Place the orange into the white bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the orange into the white bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1974948051239885874.mp4"}
+{"uid":"1380187041886794170","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut an apple in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15306558494959726056.mp4"}
+{"uid":"5917508542707428501","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with pink and red supplies than put it back into the cabinet for me. Q: immediate next step? \u003cPRED\u003eA: Place the binder clip in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with pink and red supplies than put it back into the cabinet for me. last 20 steps: 1- Place the binder clip in the tray 2- Place the binder clip in the tray 3- Place the binder clip in the tray 4- Place the binder clip in the tray 5- Place the binder clip in the tray 6- Place the marker in the tray 7- Place the marker in the tray 8- Place the marker in the tray 9- Place the sticky notes in the tray 10- Place the sticky notes in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Place the binder clip in the tray 2- Place the binder clip in the tray 3- Place the pen in the tray 4- Place the pen in the tray 5- Place the pen in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the binder clip in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with pink and red supplies than put it back into the cabinet for me. last 20 steps: 1- Place the binder clip in the tray 2- Place the binder clip in the tray 3- Place the binder clip in the tray 4- Place the binder clip in the tray 5- Place the binder clip in the tray 6- Place the marker in the tray 7- Place the marker in the tray 8- Place the marker in the tray 9- Place the sticky notes in the tray 10- Place the sticky notes in the tray Q: immediate next step? \u003cPRED\u003eA: Place the binder clip in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the binder clip in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the binder clip in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the binder clip in the tray\n\u003c/PRED\u003e","video":"1517191681228971267.mp4"}
+{"uid":"7266491430677708626","text":"\u003ctask:success:discrete:True\u003e\nPlace the orange into the white bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the orange into the white bowl\n\u003c/PRED\u003e","video":"9087327687996604003.mp4"}
+{"uid":"7004124635130555599","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick the green highlighter Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16773302209063032408.mp4"}
+{"uid":"5420901359901372749","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the orange into the white bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the orange into the white bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: stock the fruit bowl with oranges. last 20 steps: 1- put the orange in the bowl 2- keep fruit in bowl Q: immediate next step? \u003cPRED\u003eA: Place the orange into the white bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: stock the fruit bowl with oranges. Q: immediate next step? \u003cPRED\u003eA: Place the orange into the white bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: stock the fruit bowl with oranges. last 20 steps: 1- put the orange in the bowl 2- keep fruit in bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Place the orange into the white bowl 2- keep fruit in bowl 3- keep fruit in bowl 4- keep fruit in bowl 5- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the orange into the white bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the orange into the white bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17398955924548055432.mp4"}
+{"uid":"12381686832389874823","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the candy in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14780124838056657021.mp4"}
+{"uid":"12302786087318758224","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: stock the fruit bowl with oranges. last 20 steps: 1- put the orange in the bowl 2- keep fruit in bowl 3- put the orange in the bowl 4- keep fruit in bowl 5- keep fruit in bowl 6- Place the orange into the white bowl Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the orange into the white bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: stock the fruit bowl with oranges. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the orange into the white bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: stock the fruit bowl with oranges. last 20 steps: 1- put the orange in the bowl 2- keep fruit in bowl 3- put the orange in the bowl 4- keep fruit in bowl 5- keep fruit in bowl 6- Place the orange into the white bowl Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"2915053311607172910.mp4"}
+{"uid":"18136568740851241833","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up the toy carrot from the red bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16423934223538462725.mp4"}
+{"uid":"10212287066799123189","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput apple in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13065716886834233049.mp4"}
+{"uid":"13565620044803227412","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the cherries in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7532788655405324035.mp4"}
+{"uid":"13400636452365479154","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the sticky notes in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14840209971442802837.mp4"}
+{"uid":"8064174351960107449","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with pink and red supplies than put it back into the cabinet for me. Q: immediate next step? \u003cPRED\u003eA: Place the binder clip in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with pink and red supplies than put it back into the cabinet for me. last 20 steps: 1- Place the binder clip in the tray 2- Place the binder clip in the tray 3- Place the binder clip in the tray 4- Place the binder clip in the tray Q: immediate next step? \u003cPRED\u003eA: Place the binder clip in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the binder clip in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with pink and red supplies than put it back into the cabinet for me. last 20 steps: 1- Place the binder clip in the tray 2- Place the binder clip in the tray 3- Place the binder clip in the tray 4- Place the binder clip in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Place the binder clip in the tray 2- Place the marker in the tray 3- Place the marker in the tray 4- Place the marker in the tray 5- Place the sticky notes in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the binder clip in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the binder clip in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16330456540766556500.mp4"}
+{"uid":"942110418704512349","text":"\u003ctask:success:discrete:False\u003e\nPlace the pen in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the pen in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with pink and red supplies than put it back into the cabinet for me. last 20 steps: 1- Place the binder clip in the tray 2- Place the binder clip in the tray 3- Place the binder clip in the tray 4- Place the binder clip in the tray 5- Place the binder clip in the tray 6- Place the marker in the tray 7- Place the marker in the tray 8- Place the marker in the tray 9- Place the sticky notes in the tray 10- Place the sticky notes in the tray 11- Place the binder clip in the tray 12- Place the binder clip in the tray Q: immediate next step? \u003cPRED\u003eA: Place the pen in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with pink and red supplies than put it back into the cabinet for me. Q: immediate next step? \u003cPRED\u003eA: Place the pen in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the pen in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the pen in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with pink and red supplies than put it back into the cabinet for me. last 20 steps: 1- Place the binder clip in the tray 2- Place the binder clip in the tray 3- Place the binder clip in the tray 4- Place the binder clip in the tray 5- Place the binder clip in the tray 6- Place the marker in the tray 7- Place the marker in the tray 8- Place the marker in the tray 9- Place the sticky notes in the tray 10- Place the sticky notes in the tray 11- Place the binder clip in the tray 12- Place the binder clip in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Place the pen in the tray 2- Place the pen in the tray 3- Place the pen in the tray 4- Place the pen in the tray 5- Place the pen in the tray\n\u003c/PRED\u003e","video":"3577289847088629939.mp4"}
+{"uid":"1499624838040833071","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: stock the fruit bowl with oranges. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the orange in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: stock the fruit bowl with oranges. last 20 steps: 1- put the orange in the bowl 2- keep fruit in bowl 3- put the orange in the bowl 4- keep fruit in bowl 5- keep fruit in bowl 6- put the orange in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the orange in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: stock the fruit bowl with oranges. last 20 steps: 1- put the orange in the bowl 2- keep fruit in bowl 3- put the orange in the bowl 4- keep fruit in bowl 5- keep fruit in bowl 6- put the orange in the bowl Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"3645438642037216075.mp4"}
+{"uid":"15329473285240514920","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with pink and red supplies than put it back into the cabinet for me. last 20 steps: 1- Place the binder clip in the tray 2- Place the binder clip in the tray 3- Place the binder clip in the tray 4- Place the binder clip in the tray 5- Place the binder clip in the tray 6- Place the marker in the tray 7- Place the marker in the tray 8- Place the marker in the tray 9- Place the sticky notes in the tray 10- Place the sticky notes in the tray 11- Place the binder clip in the tray 12- Place the binder clip in the tray 13- Place the pen in the tray 14- Place the pen in the tray 15- Place the pen in the tray 16- Place the pen in the tray 17- Place the pen in the tray 18- Place the pen in the tray 19- Place the pen in the tray Q: immediate next step? \u003cPRED\u003eA: Place the pen in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the pen in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the pen in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the pen in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with pink and red supplies than put it back into the cabinet for me. last 20 steps: 1- Place the binder clip in the tray 2- Place the binder clip in the tray 3- Place the binder clip in the tray 4- Place the binder clip in the tray 5- Place the binder clip in the tray 6- Place the marker in the tray 7- Place the marker in the tray 8- Place the marker in the tray 9- Place the sticky notes in the tray 10- Place the sticky notes in the tray 11- Place the binder clip in the tray 12- Place the binder clip in the tray 13- Place the pen in the tray 14- Place the pen in the tray 15- Place the pen in the tray 16- Place the pen in the tray 17- Place the pen in the tray 18- Place the pen in the tray 19- Place the pen in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Place the pen in the tray 2- open the cupboard 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with pink and red supplies than put it back into the cabinet for me. Q: immediate next step? \u003cPRED\u003eA: Place the pen in the tray\n\u003c/PRED\u003e","video":"5053916399224884636.mp4"}
+{"uid":"17562489056292789444","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the binder clip in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with pink and red supplies than put it back into the cabinet for me. last 20 steps: 1- Place the binder clip in the tray 2- Place the binder clip in the tray 3- Place the binder clip in the tray Q: immediate next step? \u003cPRED\u003eA: Place the binder clip in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the binder clip in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with pink and red supplies than put it back into the cabinet for me. Q: immediate next step? \u003cPRED\u003eA: Place the binder clip in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the binder clip in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with pink and red supplies than put it back into the cabinet for me. last 20 steps: 1- Place the binder clip in the tray 2- Place the binder clip in the tray 3- Place the binder clip in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Place the binder clip in the tray 2- Place the binder clip in the tray 3- Place the marker in the tray 4- Place the marker in the tray 5- Place the marker in the tray\n\u003c/PRED\u003e","video":"12740478753787890468.mp4"}
+{"uid":"5460563245736905664","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the Pistachio in the paper glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2270627989012815154.mp4"}
+{"uid":"17755692639256126419","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the orange into the white bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the orange into the white bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: stock the fruit bowl with oranges. last 20 steps: 1- put the orange in the bowl 2- keep fruit in bowl 3- put the orange in the bowl Q: immediate next step? \u003cPRED\u003eA: Place the orange into the white bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the orange into the white bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the orange into the white bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: stock the fruit bowl with oranges. Q: immediate next step? \u003cPRED\u003eA: Place the orange into the white bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: stock the fruit bowl with oranges. last 20 steps: 1- put the orange in the bowl 2- keep fruit in bowl 3- put the orange in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Place the orange into the white bowl 2- keep fruit in bowl 3- keep fruit in bowl 4- done\n\u003c/PRED\u003e","video":"1791687021836755994.mp4"}
+{"uid":"16541876234979509687","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: stock the fruit bowl with oranges. last 20 steps: 1- put the orange in the bowl 2- keep fruit in bowl 3- put the orange in the bowl 4- keep fruit in bowl 5- keep fruit in bowl Q: immediate next step? \u003cPRED\u003eA: keep fruit in bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: stock the fruit bowl with oranges. last 20 steps: 1- put the orange in the bowl 2- keep fruit in bowl 3- put the orange in the bowl 4- keep fruit in bowl 5- keep fruit in bowl Q: next 5 steps? \u003cPRED\u003eA: 1- keep fruit in bowl 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: keep fruit in bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: keep fruit in bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: stock the fruit bowl with oranges. Q: immediate next step? \u003cPRED\u003eA: keep fruit in bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nkeep fruit in bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13040179932427996580.mp4"}
+{"uid":"1230018433146523114","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput brown candy in the organiser Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6111038115479960882.mp4"}
+{"uid":"10102557716593424037","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove towards a ball Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11351536531355892437.mp4"}
+{"uid":"17496205993002617746","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the knives in the right holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16664028541390924380.mp4"}
+{"uid":"143177182612105910","text":"\u003ctask:success:discrete:True\u003e\nput the orange in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the orange in the bowl\n\u003c/PRED\u003e","video":"16133972809432981366.mp4"}
+{"uid":"8977157384421608699","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the binder clip in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the binder clip in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with pink and red supplies than put it back into the cabinet for me. last 20 steps: 1- Place the binder clip in the tray 2- Place the binder clip in the tray 3- Place the binder clip in the tray 4- Place the binder clip in the tray 5- Place the binder clip in the tray 6- Place the marker in the tray 7- Place the marker in the tray 8- Place the marker in the tray 9- Place the sticky notes in the tray 10- Place the sticky notes in the tray 11- Place the binder clip in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Place the binder clip in the tray 2- Place the pen in the tray 3- Place the pen in the tray 4- Place the pen in the tray 5- Place the pen in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with pink and red supplies than put it back into the cabinet for me. Q: immediate next step? \u003cPRED\u003eA: Place the binder clip in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with pink and red supplies than put it back into the cabinet for me. last 20 steps: 1- Place the binder clip in the tray 2- Place the binder clip in the tray 3- Place the binder clip in the tray 4- Place the binder clip in the tray 5- Place the binder clip in the tray 6- Place the marker in the tray 7- Place the marker in the tray 8- Place the marker in the tray 9- Place the sticky notes in the tray 10- Place the sticky notes in the tray 11- Place the binder clip in the tray Q: immediate next step? \u003cPRED\u003eA: Place the binder clip in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the binder clip in the tray\n\u003c/PRED\u003e","video":"5237112078327563039.mp4"}
+{"uid":"5617732144419080771","text":"\u003ctask:success:discrete:True\u003e\nput the orange in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the orange in the bowl\n\u003c/PRED\u003e","video":"1053033570884372620.mp4"}
+{"uid":"12193772763095033965","text":"\u003ctask:success:discrete:True\u003e\nPlace the orange into the white bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the orange into the white bowl\n\u003c/PRED\u003e","video":"9157616605803333543.mp4"}
+{"uid":"7679682846610676890","text":"\u003ctask:success:discrete:False\u003e\nPlace the pen in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with pink and red supplies than put it back into the cabinet for me. last 20 steps: 1- Place the binder clip in the tray 2- Place the binder clip in the tray 3- Place the binder clip in the tray 4- Place the binder clip in the tray 5- Place the binder clip in the tray 6- Place the marker in the tray 7- Place the marker in the tray 8- Place the marker in the tray 9- Place the sticky notes in the tray 10- Place the sticky notes in the tray 11- Place the binder clip in the tray 12- Place the binder clip in the tray 13- Place the pen in the tray 14- Place the pen in the tray 15- Place the pen in the tray 16- Place the pen in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Place the pen in the tray 2- Place the pen in the tray 3- Place the pen in the tray 4- Place the pen in the tray 5- open the cupboard\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the pen in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the pen in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with pink and red supplies than put it back into the cabinet for me. last 20 steps: 1- Place the binder clip in the tray 2- Place the binder clip in the tray 3- Place the binder clip in the tray 4- Place the binder clip in the tray 5- Place the binder clip in the tray 6- Place the marker in the tray 7- Place the marker in the tray 8- Place the marker in the tray 9- Place the sticky notes in the tray 10- Place the sticky notes in the tray 11- Place the binder clip in the tray 12- Place the binder clip in the tray 13- Place the pen in the tray 14- Place the pen in the tray 15- Place the pen in the tray 16- Place the pen in the tray Q: immediate next step? \u003cPRED\u003eA: Place the pen in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the pen in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with pink and red supplies than put it back into the cabinet for me. Q: immediate next step? \u003cPRED\u003eA: Place the pen in the tray\n\u003c/PRED\u003e","video":"1041447078503196136.mp4"}
+{"uid":"17908062428678824650","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the orange into the white bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the orange into the white bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: stock the fruit bowl with oranges. last 20 steps: 1- put the orange in the bowl 2- keep fruit in bowl 3- put the orange in the bowl 4- keep fruit in bowl Q: immediate next step? \u003cPRED\u003eA: Place the orange into the white bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: stock the fruit bowl with oranges. last 20 steps: 1- put the orange in the bowl 2- keep fruit in bowl 3- put the orange in the bowl 4- keep fruit in bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Place the orange into the white bowl 2- keep fruit in bowl 3- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the orange into the white bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: stock the fruit bowl with oranges. Q: immediate next step? \u003cPRED\u003eA: Place the orange into the white bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the orange into the white bowl\n\u003c/PRED\u003e","video":"15797667454619570759.mp4"}
+{"uid":"13555975405297101729","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the banana in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7334763759887076424.mp4"}
+{"uid":"16509939819893609339","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with pink and red supplies than put it back into the cabinet for me. Q: immediate next step? \u003cPRED\u003eA: Place the binder clip in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with pink and red supplies than put it back into the cabinet for me. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Place the binder clip in the tray 2- Place the binder clip in the tray 3- Place the binder clip in the tray 4- Place the binder clip in the tray 5- Place the binder clip in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the binder clip in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the binder clip in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with pink and red supplies than put it back into the cabinet for me. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Place the binder clip in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the binder clip in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the binder clip in the tray\n\u003c/PRED\u003e","video":"2960006217201653822.mp4"}
+{"uid":"16028688333265853033","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with pink and red supplies than put it back into the cabinet for me. last 20 steps: 1- Place the binder clip in the tray 2- Place the binder clip in the tray 3- Place the binder clip in the tray 4- Place the binder clip in the tray 5- Place the binder clip in the tray 6- Place the marker in the tray 7- Place the marker in the tray 8- Place the marker in the tray 9- Place the sticky notes in the tray 10- Place the sticky notes in the tray 11- Place the binder clip in the tray 12- Place the binder clip in the tray 13- Place the pen in the tray 14- Place the pen in the tray 15- Place the pen in the tray 16- Place the pen in the tray 17- Place the pen in the tray 18- Place the pen in the tray 19- Place the pen in the tray 20- Place the pen in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- open the cupboard 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with pink and red supplies than put it back into the cabinet for me. last 20 steps: 1- Place the binder clip in the tray 2- Place the binder clip in the tray 3- Place the binder clip in the tray 4- Place the binder clip in the tray 5- Place the binder clip in the tray 6- Place the marker in the tray 7- Place the marker in the tray 8- Place the marker in the tray 9- Place the sticky notes in the tray 10- Place the sticky notes in the tray 11- Place the binder clip in the tray 12- Place the binder clip in the tray 13- Place the pen in the tray 14- Place the pen in the tray 15- Place the pen in the tray 16- Place the pen in the tray 17- Place the pen in the tray 18- Place the pen in the tray 19- Place the pen in the tray 20- Place the pen in the tray Q: immediate next step? \u003cPRED\u003eA: open the cupboard\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nopen the cupboard Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nopen the cupboard Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open the cupboard\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with pink and red supplies than put it back into the cabinet for me. Q: immediate next step? \u003cPRED\u003eA: open the cupboard\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open the cupboard\n\u003c/PRED\u003e","video":"1313653423454011381.mp4"}
+{"uid":"17487423302563783496","text":"\u003ctask:success:discrete:False\u003e\nOpen the refrigerator door Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Open the refrigerator door\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you throw water bottle  from my desk and get me a new hint watermelon from Mk kitchen to my desk. last 20 steps: 1- Pick the bottle from the table 2- Leave the room 3- Throw the bottle in the dustbin Q: immediate next step? \u003cPRED\u003eA: Open the refrigerator door\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you throw water bottle  from my desk and get me a new hint watermelon from Mk kitchen to my desk. last 20 steps: 1- Pick the bottle from the table 2- Leave the room 3- Throw the bottle in the dustbin Q: next 5 steps? \u003cPRED\u003eA: 1- Open the refrigerator door 2- Pick the hint bottle from the refrigerator 3- Leave the room 4- Place the hint bottle on the table 5- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you throw water bottle  from my desk and get me a new hint watermelon from Mk kitchen to my desk Q: immediate next step? \u003cPRED\u003eA: Open the refrigerator door\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Open the refrigerator door\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nOpen the refrigerator door Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"243959240845391327.mp4"}
+{"uid":"1896246088886013206","text":"\u003ctask:success:discrete:True\u003e\nPick the hint bottle from the refrigerator Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Pick the hint bottle from the refrigerator\n\u003c/PRED\u003e","video":"9978603659171215714.mp4"}
+{"uid":"4908091640444587258","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the candy in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5245803281407586229.mp4"}
+{"uid":"3837397025784510099","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the apple in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14599158593833438529.mp4"}
+{"uid":"13518251539354138609","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the original packet in the glass tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14712685791566723071.mp4"}
+{"uid":"8706912615616168119","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Im done playing chess, please put all the pieces back into the drawer and turn off the lights. last 20 steps: 1- open the drawer 2- put chess piece in the drawer 3- put chess piece in the drawer 4- put chess piece in the drawer 5- put chess piece in the drawer 6- put chess pieces in the drawer 7- put chess piece in the drawer 8- put chess piece in the drawer Q: immediate next step? \u003cPRED\u003eA: put chess piece in the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Im done playing chess, please put all the pieces back into the drawer and turn off the lights. last 20 steps: 1- open the drawer 2- put chess piece in the drawer 3- put chess piece in the drawer 4- put chess piece in the drawer 5- put chess piece in the drawer 6- put chess pieces in the drawer 7- put chess piece in the drawer 8- put chess piece in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- put chess piece in the drawer 2- put chess piece in the drawer 3- put chess pieces in the drawer 4- put chess piece in the drawer 5- put chess piece in the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Im done playing chess, please put all the pieces back into the drawer and turn off the lights Q: immediate next step? \u003cPRED\u003eA: put chess piece in the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put chess piece in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput chess piece in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put chess piece in the drawer\n\u003c/PRED\u003e","video":"2938305274433900100.mp4"}
+{"uid":"11476001921933794642","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the black pen in holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1481083332955135815.mp4"}
+{"uid":"10533936308277441159","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove towards the chair Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12591679581764784046.mp4"}
+{"uid":"10549293960223442070","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput a candy in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4562442472453771354.mp4"}
+{"uid":"8206613528545205597","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace packet in tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17513061656466826158.mp4"}
+{"uid":"199845727708693852","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put chess piece in the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Im done playing chess, please put all the pieces back into the drawer and turn off the lights Q: immediate next step? \u003cPRED\u003eA: put chess piece in the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Im done playing chess, please put all the pieces back into the drawer and turn off the lights. last 20 steps: 1- open the drawer 2- put chess piece in the drawer 3- put chess piece in the drawer 4- put chess piece in the drawer 5- put chess piece in the drawer 6- put chess pieces in the drawer 7- put chess piece in the drawer 8- put chess piece in the drawer 9- put chess piece in the drawer 10- put chess piece in the drawer 11- put chess pieces in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- put chess piece in the drawer 2- put chess piece in the drawer 3- close the drawer 4- turn off the lamp 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput chess piece in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput chess piece in the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put chess piece in the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Im done playing chess, please put all the pieces back into the drawer and turn off the lights. last 20 steps: 1- open the drawer 2- put chess piece in the drawer 3- put chess piece in the drawer 4- put chess piece in the drawer 5- put chess piece in the drawer 6- put chess pieces in the drawer 7- put chess piece in the drawer 8- put chess piece in the drawer 9- put chess piece in the drawer 10- put chess piece in the drawer 11- put chess pieces in the drawer Q: immediate next step? \u003cPRED\u003eA: put chess piece in the drawer\n\u003c/PRED\u003e","video":"13697123701488234011.mp4"}
+{"uid":"347487851205634134","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the bowl under the machine Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please make me three bowl of cereal and put a spoon in each bowl Q: immediate next step? \u003cPRED\u003eA: place the bowl under the machine\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the bowl under the machine Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the bowl under the machine\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please make me three bowl of cereal and put a spoon in each bowl. last 20 steps: 1- place the bowl under the machine 2- press the button 3- place the bowl to the left side of the table 4- place the bowl under the machine 5- press the button 6- place the bowl to the left side of the table Q: immediate next step? \u003cPRED\u003eA: place the bowl under the machine\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the bowl under the machine\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please make me three bowl of cereal and put a spoon in each bowl. last 20 steps: 1- place the bowl under the machine 2- press the button 3- place the bowl to the left side of the table 4- place the bowl under the machine 5- press the button 6- place the bowl to the left side of the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the bowl under the machine 2- press the button 3- place the bowl on the table 4- put the spoon in the bowl 5- put the spoon in the bowl\n\u003c/PRED\u003e","video":"16456787416357819127.mp4"}
+{"uid":"33508440958756194","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put chess pieces in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put chess pieces in the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Im done playing chess, please put all the pieces back into the drawer and turn off the lights Q: immediate next step? \u003cPRED\u003eA: put chess pieces in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput chess pieces in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Im done playing chess, please put all the pieces back into the drawer and turn off the lights. last 20 steps: 1- open the drawer 2- put chess piece in the drawer 3- put chess piece in the drawer 4- put chess piece in the drawer 5- put chess piece in the drawer 6- put chess pieces in the drawer 7- put chess piece in the drawer 8- put chess piece in the drawer 9- put chess piece in the drawer 10- put chess piece in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- put chess pieces in the drawer 2- put chess piece in the drawer 3- put chess piece in the drawer 4- close the drawer 5- turn off the lamp\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput chess pieces in the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Im done playing chess, please put all the pieces back into the drawer and turn off the lights. last 20 steps: 1- open the drawer 2- put chess piece in the drawer 3- put chess piece in the drawer 4- put chess piece in the drawer 5- put chess piece in the drawer 6- put chess pieces in the drawer 7- put chess piece in the drawer 8- put chess piece in the drawer 9- put chess piece in the drawer 10- put chess piece in the drawer Q: immediate next step? \u003cPRED\u003eA: put chess pieces in the drawer\n\u003c/PRED\u003e","video":"15509635784151011002.mp4"}
+{"uid":"9150813409454227307","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put chess piece in the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Im done playing chess, please put all the pieces back into the drawer and turn off the lights. last 20 steps: 1- open the drawer 2- put chess piece in the drawer 3- put chess piece in the drawer 4- put chess piece in the drawer 5- put chess piece in the drawer 6- put chess pieces in the drawer 7- put chess piece in the drawer 8- put chess piece in the drawer 9- put chess piece in the drawer 10- put chess piece in the drawer 11- put chess pieces in the drawer 12- put chess piece in the drawer Q: immediate next step? \u003cPRED\u003eA: put chess piece in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput chess piece in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put chess piece in the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Im done playing chess, please put all the pieces back into the drawer and turn off the lights. last 20 steps: 1- open the drawer 2- put chess piece in the drawer 3- put chess piece in the drawer 4- put chess piece in the drawer 5- put chess piece in the drawer 6- put chess pieces in the drawer 7- put chess piece in the drawer 8- put chess piece in the drawer 9- put chess piece in the drawer 10- put chess piece in the drawer 11- put chess pieces in the drawer 12- put chess piece in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- put chess piece in the drawer 2- close the drawer 3- turn off the lamp 4- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Im done playing chess, please put all the pieces back into the drawer and turn off the lights Q: immediate next step? \u003cPRED\u003eA: put chess piece in the drawer\n\u003c/PRED\u003e","video":"14400863365423232828.mp4"}
+{"uid":"2605991977192123644","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pistachio in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4033706782900699656.mp4"}
+{"uid":"9239486929615889743","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Im done playing chess, please put all the pieces back into the drawer and turn off the lights Q: immediate next step? \u003cPRED\u003eA: put chess pieces in the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Im done playing chess, please put all the pieces back into the drawer and turn off the lights. last 20 steps: 1- open the drawer 2- put chess piece in the drawer 3- put chess piece in the drawer 4- put chess piece in the drawer 5- put chess piece in the drawer Q: immediate next step? \u003cPRED\u003eA: put chess pieces in the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput chess pieces in the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put chess pieces in the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put chess pieces in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput chess pieces in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Im done playing chess, please put all the pieces back into the drawer and turn off the lights. last 20 steps: 1- open the drawer 2- put chess piece in the drawer 3- put chess piece in the drawer 4- put chess piece in the drawer 5- put chess piece in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- put chess pieces in the drawer 2- put chess piece in the drawer 3- put chess piece in the drawer 4- put chess piece in the drawer 5- put chess piece in the drawer\n\u003c/PRED\u003e","video":"16657173397285477698.mp4"}
+{"uid":"14404947788880679270","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput pear on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17243606316801624112.mp4"}
+{"uid":"15055844130213788111","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPick the bottle from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you throw water bottle  from my desk and get me a new hint watermelon from Mk kitchen to my desk. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Pick the bottle from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick the bottle from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you throw water bottle  from my desk and get me a new hint watermelon from Mk kitchen to my desk. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Pick the bottle from the table 2- Leave the room 3- Throw the bottle in the dustbin 4- Open the refrigerator door 5- Pick the hint bottle from the refrigerator\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick the bottle from the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick the bottle from the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you throw water bottle  from my desk and get me a new hint watermelon from Mk kitchen to my desk Q: immediate next step? \u003cPRED\u003eA: Pick the bottle from the table\n\u003c/PRED\u003e","video":"785905482776596009.mp4"}
+{"uid":"8823979190757249787","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop the orange into bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2970725325297805843.mp4"}
+{"uid":"14219444689687692437","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the spoon in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the spoon in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please make me three bowl of cereal and put a spoon in each bowl Q: immediate next step? \u003cPRED\u003eA: put the spoon in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please make me three bowl of cereal and put a spoon in each bowl. last 20 steps: 1- place the bowl under the machine 2- press the button 3- place the bowl to the left side of the table 4- place the bowl under the machine 5- press the button 6- place the bowl to the left side of the table 7- place the bowl under the machine 8- press the button 9- place the bowl on the table 10- put the spoon in the bowl 11- put the spoon in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the spoon in the bowl 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please make me three bowl of cereal and put a spoon in each bowl. last 20 steps: 1- place the bowl under the machine 2- press the button 3- place the bowl to the left side of the table 4- place the bowl under the machine 5- press the button 6- place the bowl to the left side of the table 7- place the bowl under the machine 8- press the button 9- place the bowl on the table 10- put the spoon in the bowl 11- put the spoon in the bowl Q: immediate next step? \u003cPRED\u003eA: put the spoon in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the spoon in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15984971753511201432.mp4"}
+{"uid":"12070711739173065137","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the silver packet in the container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10039512921990089545.mp4"}
+{"uid":"8638884937914858354","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Im done playing chess, please put all the pieces back into the drawer and turn off the lights Q: immediate next step? \u003cPRED\u003eA: put chess piece in the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput chess piece in the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput chess piece in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Im done playing chess, please put all the pieces back into the drawer and turn off the lights. last 20 steps: 1- open the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- put chess piece in the drawer 2- put chess piece in the drawer 3- put chess piece in the drawer 4- put chess piece in the drawer 5- put chess pieces in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put chess piece in the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put chess piece in the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Im done playing chess, please put all the pieces back into the drawer and turn off the lights. last 20 steps: 1- open the drawer Q: immediate next step? \u003cPRED\u003eA: put chess piece in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the candy in plastic cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13890680360097500853.mp4"}
+{"uid":"8339923694466605314","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you throw water bottle  from my desk and get me a new hint watermelon from Mk kitchen to my desk. last 20 steps: 1- Pick the bottle from the table 2- Leave the room 3- Throw the bottle in the dustbin 4- Open the refrigerator door 5- Pick the hint bottle from the refrigerator 6- Leave the room Q: immediate next step? \u003cPRED\u003eA: Place the hint bottle on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you throw water bottle  from my desk and get me a new hint watermelon from Mk kitchen to my desk Q: immediate next step? \u003cPRED\u003eA: Place the hint bottle on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the hint bottle on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the hint bottle on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you throw water bottle  from my desk and get me a new hint watermelon from Mk kitchen to my desk. last 20 steps: 1- Pick the bottle from the table 2- Leave the room 3- Throw the bottle in the dustbin 4- Open the refrigerator door 5- Pick the hint bottle from the refrigerator 6- Leave the room Q: next 5 steps? \u003cPRED\u003eA: 1- Place the hint bottle on the table 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the hint bottle on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the hint bottle on the table\n\u003c/PRED\u003e","video":"18060172813840384475.mp4"}
+{"uid":"14327417835203762696","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Im done playing chess, please put all the pieces back into the drawer and turn off the lights Q: immediate next step? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nclose the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Im done playing chess, please put all the pieces back into the drawer and turn off the lights. last 20 steps: 1- open the drawer 2- put chess piece in the drawer 3- put chess piece in the drawer 4- put chess piece in the drawer 5- put chess piece in the drawer 6- put chess pieces in the drawer 7- put chess piece in the drawer 8- put chess piece in the drawer 9- put chess piece in the drawer 10- put chess piece in the drawer 11- put chess pieces in the drawer 12- put chess piece in the drawer 13- put chess piece in the drawer Q: immediate next step? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Im done playing chess, please put all the pieces back into the drawer and turn off the lights. last 20 steps: 1- open the drawer 2- put chess piece in the drawer 3- put chess piece in the drawer 4- put chess piece in the drawer 5- put chess piece in the drawer 6- put chess pieces in the drawer 7- put chess piece in the drawer 8- put chess piece in the drawer 9- put chess piece in the drawer 10- put chess piece in the drawer 11- put chess pieces in the drawer 12- put chess piece in the drawer 13- put chess piece in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- close the drawer 2- turn off the lamp 3- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nclose the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10003648826044037134.mp4"}
+{"uid":"5426058552743963079","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the nut in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4659146162825561457.mp4"}
+{"uid":"13491672592767751598","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: press the button\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: press the button\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please make me three bowl of cereal and put a spoon in each bowl. last 20 steps: 1- place the bowl under the machine 2- press the button 3- place the bowl to the left side of the table 4- place the bowl under the machine 5- press the button 6- place the bowl to the left side of the table 7- place the bowl under the machine Q: next 5 steps? \u003cPRED\u003eA: 1- press the button 2- place the bowl on the table 3- put the spoon in the bowl 4- put the spoon in the bowl 5- put the spoon in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npress the button Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npress the button Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please make me three bowl of cereal and put a spoon in each bowl Q: immediate next step? \u003cPRED\u003eA: press the button\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please make me three bowl of cereal and put a spoon in each bowl. last 20 steps: 1- place the bowl under the machine 2- press the button 3- place the bowl to the left side of the table 4- place the bowl under the machine 5- press the button 6- place the bowl to the left side of the table 7- place the bowl under the machine Q: immediate next step? \u003cPRED\u003eA: press the button\n\u003c/PRED\u003e","video":"11310941703785623250.mp4"}
+{"uid":"8756746336437917183","text":"\u003ctask:success:discrete:True\u003e\nplace the bowl under the machine Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the bowl under the machine\n\u003c/PRED\u003e","video":"6022095941517604810.mp4"}
+{"uid":"8835072624482819917","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace packet into the cotton box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7377594738412309158.mp4"}
+{"uid":"5534673917261434035","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Im done playing chess, please put all the pieces back into the drawer and turn off the lights Q: immediate next step? \u003cPRED\u003eA: put chess piece in the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Im done playing chess, please put all the pieces back into the drawer and turn off the lights. last 20 steps: 1- open the drawer 2- put chess piece in the drawer 3- put chess piece in the drawer 4- put chess piece in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- put chess piece in the drawer 2- put chess pieces in the drawer 3- put chess piece in the drawer 4- put chess piece in the drawer 5- put chess piece in the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put chess piece in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput chess piece in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put chess piece in the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Im done playing chess, please put all the pieces back into the drawer and turn off the lights. last 20 steps: 1- open the drawer 2- put chess piece in the drawer 3- put chess piece in the drawer 4- put chess piece in the drawer Q: immediate next step? \u003cPRED\u003eA: put chess piece in the drawer\n\u003c/PRED\u003e","video":"16228580393709766783.mp4"}
+{"uid":"4629158166655815417","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Leave the room\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nLeave the room Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6762109252691532185.mp4"}
+{"uid":"3253802468011432595","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput chess piece in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Im done playing chess, please put all the pieces back into the drawer and turn off the lights. last 20 steps: 1- open the drawer 2- put chess piece in the drawer 3- put chess piece in the drawer Q: immediate next step? \u003cPRED\u003eA: put chess piece in the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Im done playing chess, please put all the pieces back into the drawer and turn off the lights Q: immediate next step? \u003cPRED\u003eA: put chess piece in the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put chess piece in the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Im done playing chess, please put all the pieces back into the drawer and turn off the lights. last 20 steps: 1- open the drawer 2- put chess piece in the drawer 3- put chess piece in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- put chess piece in the drawer 2- put chess piece in the drawer 3- put chess pieces in the drawer 4- put chess piece in the drawer 5- put chess piece in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put chess piece in the drawer\n\u003c/PRED\u003e","video":"8766880918712896797.mp4"}
+{"uid":"10520496467168267762","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the bowl to the left side of the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please make me three bowl of cereal and put a spoon in each bowl Q: immediate next step? \u003cPRED\u003eA: place the bowl to the left side of the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the bowl to the left side of the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the bowl to the left side of the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please make me three bowl of cereal and put a spoon in each bowl. last 20 steps: 1- place the bowl under the machine 2- press the button Q: next 5 steps? \u003cPRED\u003eA: 1- place the bowl to the left side of the table 2- place the bowl under the machine 3- press the button 4- place the bowl to the left side of the table 5- place the bowl under the machine\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the bowl to the left side of the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please make me three bowl of cereal and put a spoon in each bowl. last 20 steps: 1- place the bowl under the machine 2- press the button Q: immediate next step? \u003cPRED\u003eA: place the bowl to the left side of the table\n\u003c/PRED\u003e","video":"15547254590436214352.mp4"}
+{"uid":"18396033410530935458","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Im done playing chess, please put all the pieces back into the drawer and turn off the lights. last 20 steps: 1- open the drawer 2- put chess piece in the drawer 3- put chess piece in the drawer 4- put chess piece in the drawer 5- put chess piece in the drawer 6- put chess pieces in the drawer 7- put chess piece in the drawer Q: immediate next step? \u003cPRED\u003eA: put chess piece in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put chess piece in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput chess piece in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Im done playing chess, please put all the pieces back into the drawer and turn off the lights Q: immediate next step? \u003cPRED\u003eA: put chess piece in the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Im done playing chess, please put all the pieces back into the drawer and turn off the lights. last 20 steps: 1- open the drawer 2- put chess piece in the drawer 3- put chess piece in the drawer 4- put chess piece in the drawer 5- put chess piece in the drawer 6- put chess pieces in the drawer 7- put chess piece in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- put chess piece in the drawer 2- put chess piece in the drawer 3- put chess piece in the drawer 4- put chess pieces in the drawer 5- put chess piece in the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put chess piece in the drawer\n\u003c/PRED\u003e","video":"10097448163294127752.mp4"}
+{"uid":"12504351648655687640","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Please make me three bowl of cereal and put a spoon in each bowl Q: immediate next step? \u003cPRED\u003eA: place the bowl to the left side of the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the bowl to the left side of the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please make me three bowl of cereal and put a spoon in each bowl. last 20 steps: 1- place the bowl under the machine 2- press the button 3- place the bowl to the left side of the table 4- place the bowl under the machine 5- press the button Q: next 5 steps? \u003cPRED\u003eA: 1- place the bowl to the left side of the table 2- place the bowl under the machine 3- press the button 4- place the bowl on the table 5- put the spoon in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the bowl to the left side of the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please make me three bowl of cereal and put a spoon in each bowl. last 20 steps: 1- place the bowl under the machine 2- press the button 3- place the bowl to the left side of the table 4- place the bowl under the machine 5- press the button Q: immediate next step? \u003cPRED\u003eA: place the bowl to the left side of the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the bowl to the left side of the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the bowl to the left side of the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1746625854511372316.mp4"}
+{"uid":"11818322512901220853","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop candy into bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3001319018024378796.mp4"}
+{"uid":"9801874793477148577","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put chess piece in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput chess piece in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Im done playing chess, please put all the pieces back into the drawer and turn off the lights. last 20 steps: 1- open the drawer 2- put chess piece in the drawer 3- put chess piece in the drawer 4- put chess piece in the drawer 5- put chess piece in the drawer 6- put chess pieces in the drawer 7- put chess piece in the drawer 8- put chess piece in the drawer 9- put chess piece in the drawer Q: immediate next step? \u003cPRED\u003eA: put chess piece in the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Im done playing chess, please put all the pieces back into the drawer and turn off the lights. last 20 steps: 1- open the drawer 2- put chess piece in the drawer 3- put chess piece in the drawer 4- put chess piece in the drawer 5- put chess piece in the drawer 6- put chess pieces in the drawer 7- put chess piece in the drawer 8- put chess piece in the drawer 9- put chess piece in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- put chess piece in the drawer 2- put chess pieces in the drawer 3- put chess piece in the drawer 4- put chess piece in the drawer 5- close the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Im done playing chess, please put all the pieces back into the drawer and turn off the lights Q: immediate next step? \u003cPRED\u003eA: put chess piece in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put chess piece in the drawer\n\u003c/PRED\u003e","video":"1036478289583540107.mp4"}
+{"uid":"8044270470409040039","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pistachio in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12820575942779733671.mp4"}
+{"uid":"6909364003154161518","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the hint bottle on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you throw water bottle  from my desk and get me a new hint watermelon from Mk kitchen to my desk Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you throw water bottle  from my desk and get me a new hint watermelon from Mk kitchen to my desk. last 20 steps: 1- Pick the bottle from the table 2- Leave the room 3- Throw the bottle in the dustbin 4- Open the refrigerator door 5- Pick the hint bottle from the refrigerator 6- Leave the room 7- Place the hint bottle on the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the hint bottle on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you throw water bottle  from my desk and get me a new hint watermelon from Mk kitchen to my desk. last 20 steps: 1- Pick the bottle from the table 2- Leave the room 3- Throw the bottle in the dustbin 4- Open the refrigerator door 5- Pick the hint bottle from the refrigerator 6- Leave the room 7- Place the hint bottle on the table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"9305802262257962491.mp4"}
+{"uid":"1355499829182633363","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the napkin on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2250145996560708124.mp4"}
+{"uid":"18140989850424377319","text":"\u003ctask:success:discrete:False\u003e\nput chess piece in the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put chess piece in the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Im done playing chess, please put all the pieces back into the drawer and turn off the lights Q: immediate next step? \u003cPRED\u003eA: put chess piece in the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put chess piece in the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Im done playing chess, please put all the pieces back into the drawer and turn off the lights. last 20 steps: 1- open the drawer 2- put chess piece in the drawer 3- put chess piece in the drawer 4- put chess piece in the drawer 5- put chess piece in the drawer 6- put chess pieces in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- put chess piece in the drawer 2- put chess piece in the drawer 3- put chess piece in the drawer 4- put chess piece in the drawer 5- put chess pieces in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput chess piece in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Im done playing chess, please put all the pieces back into the drawer and turn off the lights. last 20 steps: 1- open the drawer 2- put chess piece in the drawer 3- put chess piece in the drawer 4- put chess piece in the drawer 5- put chess piece in the drawer 6- put chess pieces in the drawer Q: immediate next step? \u003cPRED\u003eA: put chess piece in the drawer\n\u003c/PRED\u003e","video":"17092249466948173034.mp4"}
+{"uid":"16561545223073975213","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace packet into tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10126085327026480812.mp4"}
+{"uid":"8585252867003812772","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the bowl under the machine\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please make me three bowl of cereal and put a spoon in each bowl. last 20 steps: 1- place the bowl under the machine 2- press the button 3- place the bowl to the left side of the table Q: immediate next step? \u003cPRED\u003eA: place the bowl under the machine\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the bowl under the machine Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please make me three bowl of cereal and put a spoon in each bowl Q: immediate next step? \u003cPRED\u003eA: place the bowl under the machine\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please make me three bowl of cereal and put a spoon in each bowl. last 20 steps: 1- place the bowl under the machine 2- press the button 3- place the bowl to the left side of the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the bowl under the machine 2- press the button 3- place the bowl to the left side of the table 4- place the bowl under the machine 5- press the button\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the bowl under the machine\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the bowl under the machine Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2417457289823038810.mp4"}
+{"uid":"16464691133057658748","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\npress the button Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: press the button\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npress the button Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please make me three bowl of cereal and put a spoon in each bowl. last 20 steps: 1- place the bowl under the machine Q: next 5 steps? \u003cPRED\u003eA: 1- press the button 2- place the bowl to the left side of the table 3- place the bowl under the machine 4- press the button 5- place the bowl to the left side of the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please make me three bowl of cereal and put a spoon in each bowl Q: immediate next step? \u003cPRED\u003eA: press the button\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: press the button\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please make me three bowl of cereal and put a spoon in each bowl. last 20 steps: 1- place the bowl under the machine Q: immediate next step? \u003cPRED\u003eA: press the button\n\u003c/PRED\u003e","video":"6665969600770218142.mp4"}
+{"uid":"13104726008523263139","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the spoon in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the spoon in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the spoon in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please make me three bowl of cereal and put a spoon in each bowl Q: immediate next step? \u003cPRED\u003eA: put the spoon in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please make me three bowl of cereal and put a spoon in each bowl. last 20 steps: 1- place the bowl under the machine 2- press the button 3- place the bowl to the left side of the table 4- place the bowl under the machine 5- press the button 6- place the bowl to the left side of the table 7- place the bowl under the machine 8- press the button 9- place the bowl on the table 10- put the spoon in the bowl Q: immediate next step? \u003cPRED\u003eA: put the spoon in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please make me three bowl of cereal and put a spoon in each bowl. last 20 steps: 1- place the bowl under the machine 2- press the button 3- place the bowl to the left side of the table 4- place the bowl under the machine 5- press the button 6- place the bowl to the left side of the table 7- place the bowl under the machine 8- press the button 9- place the bowl on the table 10- put the spoon in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the spoon in the bowl 2- put the spoon in the bowl 3- done\n\u003c/PRED\u003e","video":"16388662363100242067.mp4"}
+{"uid":"591017909163727191","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you throw water bottle  from my desk and get me a new hint watermelon from Mk kitchen to my desk. last 20 steps: 1- Pick the bottle from the table Q: next 5 steps? \u003cPRED\u003eA: 1- Leave the room 2- Throw the bottle in the dustbin 3- Open the refrigerator door 4- Pick the hint bottle from the refrigerator 5- Leave the room\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nLeave the room Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nLeave the room Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Leave the room\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you throw water bottle  from my desk and get me a new hint watermelon from Mk kitchen to my desk Q: immediate next step? \u003cPRED\u003eA: Leave the room\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you throw water bottle  from my desk and get me a new hint watermelon from Mk kitchen to my desk. last 20 steps: 1- Pick the bottle from the table Q: immediate next step? \u003cPRED\u003eA: Leave the room\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Leave the room\n\u003c/PRED\u003e","video":"15964331873442751104.mp4"}
+{"uid":"7395485827709005730","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the candy in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4939812141508412571.mp4"}
+{"uid":"14028220881110139614","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the redbull can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14235342272060611139.mp4"}
+{"uid":"6746120529228561695","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pen into the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17919494617928847437.mp4"}
+{"uid":"1486540389384755080","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: turn off the lamp\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Im done playing chess, please put all the pieces back into the drawer and turn off the lights. last 20 steps: 1- open the drawer 2- put chess piece in the drawer 3- put chess piece in the drawer 4- put chess piece in the drawer 5- put chess piece in the drawer 6- put chess pieces in the drawer 7- put chess piece in the drawer 8- put chess piece in the drawer 9- put chess piece in the drawer 10- put chess piece in the drawer 11- put chess pieces in the drawer 12- put chess piece in the drawer 13- put chess piece in the drawer 14- close the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- turn off the lamp 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: turn off the lamp\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Im done playing chess, please put all the pieces back into the drawer and turn off the lights. last 20 steps: 1- open the drawer 2- put chess piece in the drawer 3- put chess piece in the drawer 4- put chess piece in the drawer 5- put chess piece in the drawer 6- put chess pieces in the drawer 7- put chess piece in the drawer 8- put chess piece in the drawer 9- put chess piece in the drawer 10- put chess piece in the drawer 11- put chess pieces in the drawer 12- put chess piece in the drawer 13- put chess piece in the drawer 14- close the drawer Q: immediate next step? \u003cPRED\u003eA: turn off the lamp\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Im done playing chess, please put all the pieces back into the drawer and turn off the lights Q: immediate next step? \u003cPRED\u003eA: turn off the lamp\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nturn off the lamp Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nturn off the lamp Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10596403178225239671.mp4"}
+{"uid":"18216976422845961640","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Pick the bottle from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPick the bottle from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"55775260096554948.mp4"}
+{"uid":"17858914355457936834","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput pistachio in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2714485336840944281.mp4"}
+{"uid":"10554921871480548875","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nclose the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16838302807999167870.mp4"}
+{"uid":"4942370074874237736","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace sticky note into tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12817289569429531910.mp4"}
+{"uid":"17041456384198451218","text":"\u003ctask:success:discrete:False\u003e\nPick the hint bottle from the refrigerator Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick the hint bottle from the refrigerator\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you throw water bottle  from my desk and get me a new hint watermelon from Mk kitchen to my desk. last 20 steps: 1- Pick the bottle from the table 2- Leave the room 3- Throw the bottle in the dustbin 4- Open the refrigerator door Q: next 5 steps? \u003cPRED\u003eA: 1- Pick the hint bottle from the refrigerator 2- Leave the room 3- Place the hint bottle on the table 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you throw water bottle  from my desk and get me a new hint watermelon from Mk kitchen to my desk. last 20 steps: 1- Pick the bottle from the table 2- Leave the room 3- Throw the bottle in the dustbin 4- Open the refrigerator door Q: immediate next step? \u003cPRED\u003eA: Pick the hint bottle from the refrigerator\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you throw water bottle  from my desk and get me a new hint watermelon from Mk kitchen to my desk Q: immediate next step? \u003cPRED\u003eA: Pick the hint bottle from the refrigerator\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick the hint bottle from the refrigerator\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick the hint bottle from the refrigerator Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10458171619677236311.mp4"}
+{"uid":"6222954805002360385","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput yellow packet in order Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14354788476748198956.mp4"}
+{"uid":"14325448169946866256","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Im done playing chess, please put all the pieces back into the drawer and turn off the lights. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Im done playing chess, please put all the pieces back into the drawer and turn off the lights. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- open the drawer 2- put chess piece in the drawer 3- put chess piece in the drawer 4- put chess piece in the drawer 5- put chess piece in the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Im done playing chess, please put all the pieces back into the drawer and turn off the lights Q: immediate next step? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nopen the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nopen the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8803371059299195047.mp4"}
+{"uid":"17580438556810150372","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up the sanitizer bottle Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5889857836886171571.mp4"}
+{"uid":"11522322926161992963","text":"\u003ctask:success:discrete:True\u003e\nThrow the bottle in the dustbin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Throw the bottle in the dustbin\n\u003c/PRED\u003e","video":"8776368112163590537.mp4"}
+{"uid":"9881667832400014846","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you throw water bottle  from my desk and get me a new hint watermelon from Mk kitchen to my desk. last 20 steps: 1- Pick the bottle from the table 2- Leave the room Q: immediate next step? \u003cPRED\u003eA: Throw the bottle in the dustbin\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you throw water bottle  from my desk and get me a new hint watermelon from Mk kitchen to my desk. last 20 steps: 1- Pick the bottle from the table 2- Leave the room Q: next 5 steps? \u003cPRED\u003eA: 1- Throw the bottle in the dustbin 2- Open the refrigerator door 3- Pick the hint bottle from the refrigerator 4- Leave the room 5- Place the hint bottle on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nThrow the bottle in the dustbin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you throw water bottle  from my desk and get me a new hint watermelon from Mk kitchen to my desk Q: immediate next step? \u003cPRED\u003eA: Throw the bottle in the dustbin\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Throw the bottle in the dustbin\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Throw the bottle in the dustbin\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nThrow the bottle in the dustbin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2401279403525172387.mp4"}
+{"uid":"14765746708147352905","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nclose the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17677605054407907217.mp4"}
+{"uid":"8161036495759479392","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove box to the left Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5533271447093906293.mp4"}
+{"uid":"4632607378752829510","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5731196798317867684.mp4"}
+{"uid":"6271554222465319397","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop pista into the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5896921123042947940.mp4"}
+{"uid":"13134242359624908737","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Please make me three bowl of cereal and put a spoon in each bowl Q: immediate next step? \u003cPRED\u003eA: place the bowl on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please make me three bowl of cereal and put a spoon in each bowl. last 20 steps: 1- place the bowl under the machine 2- press the button 3- place the bowl to the left side of the table 4- place the bowl under the machine 5- press the button 6- place the bowl to the left side of the table 7- place the bowl under the machine 8- press the button Q: immediate next step? \u003cPRED\u003eA: place the bowl on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the bowl on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please make me three bowl of cereal and put a spoon in each bowl. last 20 steps: 1- place the bowl under the machine 2- press the button 3- place the bowl to the left side of the table 4- place the bowl under the machine 5- press the button 6- place the bowl to the left side of the table 7- place the bowl under the machine 8- press the button Q: next 5 steps? \u003cPRED\u003eA: 1- place the bowl on the table 2- put the spoon in the bowl 3- put the spoon in the bowl 4- put the spoon in the bowl 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the bowl on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the bowl on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the bowl on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3281586972214471836.mp4"}
+{"uid":"14405478011516931322","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Leave the room\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nLeave the room Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14885254616005277607.mp4"}
+{"uid":"14957839126284601057","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Im done playing chess, please put all the pieces back into the drawer and turn off the lights. last 20 steps: 1- open the drawer 2- put chess piece in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- put chess piece in the drawer 2- put chess piece in the drawer 3- put chess piece in the drawer 4- put chess pieces in the drawer 5- put chess piece in the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Im done playing chess, please put all the pieces back into the drawer and turn off the lights Q: immediate next step? \u003cPRED\u003eA: put chess piece in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put chess piece in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput chess piece in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put chess piece in the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Im done playing chess, please put all the pieces back into the drawer and turn off the lights. last 20 steps: 1- open the drawer 2- put chess piece in the drawer Q: immediate next step? \u003cPRED\u003eA: put chess piece in the drawer\n\u003c/PRED\u003e","video":"7847872692318358127.mp4"}
+{"uid":"4272139582235457230","text":"\u003ctask:success:discrete:False\u003e\npress the button Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please make me three bowl of cereal and put a spoon in each bowl. last 20 steps: 1- place the bowl under the machine 2- press the button 3- place the bowl to the left side of the table 4- place the bowl under the machine Q: immediate next step? \u003cPRED\u003eA: press the button\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npress the button Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please make me three bowl of cereal and put a spoon in each bowl Q: immediate next step? \u003cPRED\u003eA: press the button\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: press the button\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please make me three bowl of cereal and put a spoon in each bowl. last 20 steps: 1- place the bowl under the machine 2- press the button 3- place the bowl to the left side of the table 4- place the bowl under the machine Q: next 5 steps? \u003cPRED\u003eA: 1- press the button 2- place the bowl to the left side of the table 3- place the bowl under the machine 4- press the button 5- place the bowl on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: press the button\n\u003c/PRED\u003e","video":"8052030166328822903.mp4"}
+{"uid":"12763041681580570920","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput pear on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"86995563881959246.mp4"}
+{"uid":"17271642330353191740","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the apple on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7423359843665307871.mp4"}
+{"uid":"6378483852443118563","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the spoon in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the spoon in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the spoon in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please make me three bowl of cereal and put a spoon in each bowl. last 20 steps: 1- place the bowl under the machine 2- press the button 3- place the bowl to the left side of the table 4- place the bowl under the machine 5- press the button 6- place the bowl to the left side of the table 7- place the bowl under the machine 8- press the button 9- place the bowl on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put the spoon in the bowl 2- put the spoon in the bowl 3- put the spoon in the bowl 4- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please make me three bowl of cereal and put a spoon in each bowl Q: immediate next step? \u003cPRED\u003eA: put the spoon in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the spoon in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please make me three bowl of cereal and put a spoon in each bowl. last 20 steps: 1- place the bowl under the machine 2- press the button 3- place the bowl to the left side of the table 4- place the bowl under the machine 5- press the button 6- place the bowl to the left side of the table 7- place the bowl under the machine 8- press the button 9- place the bowl on the table Q: immediate next step? \u003cPRED\u003eA: put the spoon in the bowl\n\u003c/PRED\u003e","video":"16489799269822062884.mp4"}
+{"uid":"15838114991817924198","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the bowl under the machine Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the bowl under the machine\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the bowl under the machine\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please make me three bowl of cereal and put a spoon in each bowl. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place the bowl under the machine 2- press the button 3- place the bowl to the left side of the table 4- place the bowl under the machine 5- press the button\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please make me three bowl of cereal and put a spoon in each bowl Q: immediate next step? \u003cPRED\u003eA: place the bowl under the machine\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please make me three bowl of cereal and put a spoon in each bowl. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place the bowl under the machine\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the bowl under the machine Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7518659427972095052.mp4"}
+{"uid":"14091724901680886888","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you throw water bottle  from my desk and get me a new hint watermelon from Mk kitchen to my desk. last 20 steps: 1- Pick the bottle from the table 2- Leave the room 3- Throw the bottle in the dustbin 4- Open the refrigerator door 5- Pick the hint bottle from the refrigerator Q: immediate next step? \u003cPRED\u003eA: Leave the room\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you throw water bottle  from my desk and get me a new hint watermelon from Mk kitchen to my desk Q: immediate next step? \u003cPRED\u003eA: Leave the room\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Leave the room\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nLeave the room Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you throw water bottle  from my desk and get me a new hint watermelon from Mk kitchen to my desk. last 20 steps: 1- Pick the bottle from the table 2- Leave the room 3- Throw the bottle in the dustbin 4- Open the refrigerator door 5- Pick the hint bottle from the refrigerator Q: next 5 steps? \u003cPRED\u003eA: 1- Leave the room 2- Place the hint bottle on the table 3- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Leave the room\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nLeave the room Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5631670993975995651.mp4"}
+{"uid":"15549056571525010373","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the pip corn packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13637570336232049654.mp4"}
+{"uid":"11118161212740566451","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7303654168493861500.mp4"}
+{"uid":"4001409131146064021","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the plastic glass upright on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the plastic glass upright on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15911142377079483641.mp4"}
+{"uid":"8405351858432352017","text":"\u003ctask:success:discrete:True\u003e\nplace the plastic spoon in the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the plastic spoon in the glass\n\u003c/PRED\u003e","video":"6775962819980347148.mp4"}
+{"uid":"13462215141166118386","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please clean up the desk by placing all the utensils back into the cup. last 20 steps: 1- pick a plastic knife from the table 2- put the plastic knife in the plastic glass 3- pick the plastic fork from the table 4- place the plastic fork in the plastic glass 5- pick the plastic spoons 6- place the plastic spoon in the glass 7- place the glass upright 8- pick the plastic knife from the table 9- place the plastic knife in the glass 10- pick the plastic spoon from the table 11- put the plastic spoon in the glass 12- pick the plastic spoon from the table 13- place the plastic spoons in the glass 14- pick the plastic spoon from the floor 15- place the spoon in the plastic glass 16- pick the plastic glass Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick the plastic glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please clean up the desk by placing all the utensils back into the cup. last 20 steps: 1- pick a plastic knife from the table 2- put the plastic knife in the plastic glass 3- pick the plastic fork from the table 4- place the plastic fork in the plastic glass 5- pick the plastic spoons 6- place the plastic spoon in the glass 7- place the glass upright 8- pick the plastic knife from the table 9- place the plastic knife in the glass 10- pick the plastic spoon from the table 11- put the plastic spoon in the glass 12- pick the plastic spoon from the table 13- place the plastic spoons in the glass 14- pick the plastic spoon from the floor 15- place the spoon in the plastic glass 16- pick the plastic glass Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick the plastic glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please clean up the desk by placing all the utensils back into the cup Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"11774158719889917033.mp4"}
+{"uid":"3610261662452645741","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the sugar packet in the container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13877275988874192785.mp4"}
+{"uid":"14804739212947434581","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the plastic spoons in the glass\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the plastic spoons in the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2381480238466301029.mp4"}
+{"uid":"17525488181166150625","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput fork on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3067052351971056191.mp4"}
+{"uid":"11197179680835652132","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove to the hanger on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10693778343809324856.mp4"}
+{"uid":"1277392185663304509","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the glass upright\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the glass upright\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the glass upright Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please clean up the desk by placing all the utensils back into the cup Q: immediate next step? \u003cPRED\u003eA: place the glass upright\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please clean up the desk by placing all the utensils back into the cup. last 20 steps: 1- pick a plastic knife from the table 2- put the plastic knife in the plastic glass 3- pick the plastic fork from the table 4- place the plastic fork in the plastic glass 5- pick the plastic spoons 6- place the plastic spoon in the glass Q: next 5 steps? \u003cPRED\u003eA: 1- place the glass upright 2- pick the plastic knife from the table 3- place the plastic knife in the glass 4- pick the plastic spoon from the table 5- put the plastic spoon in the glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please clean up the desk by placing all the utensils back into the cup. last 20 steps: 1- pick a plastic knife from the table 2- put the plastic knife in the plastic glass 3- pick the plastic fork from the table 4- place the plastic fork in the plastic glass 5- pick the plastic spoons 6- place the plastic spoon in the glass Q: immediate next step? \u003cPRED\u003eA: place the glass upright\n\u003c/PRED\u003e","video":"15298797174671275171.mp4"}
+{"uid":"8604386292369999588","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick the plastic spoons\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick the plastic spoons Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7919649527996439592.mp4"}
+{"uid":"9097109563450824890","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the orange pen in pen stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3394802756690499852.mp4"}
+{"uid":"7491811330151679162","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the plastic spoon in the glass\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the plastic spoon in the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10176584529178598405.mp4"}
+{"uid":"4301033980158297805","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace blue packet in black basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6525215848067426433.mp4"}
+{"uid":"7761936230165744933","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the white chips packet in box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6067103755723432183.mp4"}
+{"uid":"10384407360018861661","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please clean up the desk by placing all the utensils back into the cup Q: immediate next step? \u003cPRED\u003eA: put the plastic knife and the plastic fork in the plastic glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the plastic knife and the plastic fork in the plastic glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the plastic knife and the plastic fork in the plastic glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the plastic knife and the plastic fork in the plastic glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please clean up the desk by placing all the utensils back into the cup. last 20 steps: 1- pick a plastic knife from the table 2- put the plastic knife in the plastic glass 3- pick the plastic fork from the table 4- place the plastic fork in the plastic glass 5- pick the plastic spoons 6- place the plastic spoon in the glass 7- place the glass upright 8- pick the plastic knife from the table 9- place the plastic knife in the glass 10- pick the plastic spoon from the table 11- put the plastic spoon in the glass 12- pick the plastic spoon from the table Q: next 5 steps? \u003cPRED\u003eA: 1- put the plastic knife and the plastic fork in the plastic glass 2- pick the plastic spoon from the floor 3- place the spoon in the plastic glass 4- pick the plastic glass from the table 5- place the plastic glass on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please clean up the desk by placing all the utensils back into the cup. last 20 steps: 1- pick a plastic knife from the table 2- put the plastic knife in the plastic glass 3- pick the plastic fork from the table 4- place the plastic fork in the plastic glass 5- pick the plastic spoons 6- place the plastic spoon in the glass 7- place the glass upright 8- pick the plastic knife from the table 9- place the plastic knife in the glass 10- pick the plastic spoon from the table 11- put the plastic spoon in the glass 12- pick the plastic spoon from the table Q: immediate next step? \u003cPRED\u003eA: put the plastic knife and the plastic fork in the plastic glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the plastic knife and the plastic fork in the plastic glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8923526064473640971.mp4"}
+{"uid":"7895072244653531837","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\npick the plastic spoon from the floor Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please clean up the desk by placing all the utensils back into the cup Q: immediate next step? \u003cPRED\u003eA: pick the plastic spoon from the floor\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please clean up the desk by placing all the utensils back into the cup. last 20 steps: 1- pick a plastic knife from the table 2- put the plastic knife in the plastic glass 3- pick the plastic fork from the table 4- place the plastic fork in the plastic glass 5- pick the plastic spoons 6- place the plastic spoon in the glass 7- place the glass upright 8- pick the plastic knife from the table 9- place the plastic knife in the glass 10- pick the plastic spoon from the table 11- put the plastic spoon in the glass 12- pick the plastic spoon from the table 13- place the plastic spoons in the glass Q: immediate next step? \u003cPRED\u003eA: pick the plastic spoon from the floor\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the plastic spoon from the floor\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the plastic spoon from the floor Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please clean up the desk by placing all the utensils back into the cup. last 20 steps: 1- pick a plastic knife from the table 2- put the plastic knife in the plastic glass 3- pick the plastic fork from the table 4- place the plastic fork in the plastic glass 5- pick the plastic spoons 6- place the plastic spoon in the glass 7- place the glass upright 8- pick the plastic knife from the table 9- place the plastic knife in the glass 10- pick the plastic spoon from the table 11- put the plastic spoon in the glass 12- pick the plastic spoon from the table 13- place the plastic spoons in the glass Q: next 5 steps? \u003cPRED\u003eA: 1- pick the plastic spoon from the floor 2- place the spoon in the plastic glass 3- pick the plastic glass from the table 4- place the plastic glass on the table 5- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the plastic spoon from the floor\n\u003c/PRED\u003e","video":"7950824857254969707.mp4"}
+{"uid":"1947033728461745571","text":"\u003ctask:success:discrete:False\u003e\npick the plastic spoons Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please clean up the desk by placing all the utensils back into the cup Q: immediate next step? \u003cPRED\u003eA: pick the plastic spoons\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please clean up the desk by placing all the utensils back into the cup. last 20 steps: 1- pick a plastic knife from the table 2- put the plastic knife in the plastic glass 3- pick the plastic fork from the table 4- place the plastic fork in the plastic glass Q: immediate next step? \u003cPRED\u003eA: pick the plastic spoons\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the plastic spoons\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the plastic spoons\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please clean up the desk by placing all the utensils back into the cup. last 20 steps: 1- pick a plastic knife from the table 2- put the plastic knife in the plastic glass 3- pick the plastic fork from the table 4- place the plastic fork in the plastic glass Q: next 5 steps? \u003cPRED\u003eA: 1- pick the plastic spoons 2- place the glass upright 3- pick the plastic knife from the table 4- place the plastic knife in the glass 5- pick the plastic spoon from the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the plastic spoons Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5309015525207778605.mp4"}
+{"uid":"15561389644753083670","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick the plastic spoons\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick the plastic spoons Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1992875613293608998.mp4"}
+{"uid":"2521778951421829643","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nopen the orange drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6693298545737960327.mp4"}
+{"uid":"2748332325405637624","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the plastic knife\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please clean up the desk by placing all the utensils back into the cup Q: immediate next step? \u003cPRED\u003eA: pick the plastic knife\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the plastic knife\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please clean up the desk by placing all the utensils back into the cup. last 20 steps: 1- pick a plastic knife from the table 2- put the plastic knife in the plastic glass 3- pick the plastic fork from the table 4- place the plastic fork in the plastic glass 5- pick the plastic spoons 6- place the plastic spoon in the glass 7- place the glass upright Q: next 5 steps? \u003cPRED\u003eA: 1- pick the plastic knife 2- place the plastic knife in the glass 3- pick the plastic spoon from the table 4- put the plastic spoon in the glass 5- pick the plastic spoon from the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please clean up the desk by placing all the utensils back into the cup. last 20 steps: 1- pick a plastic knife from the table 2- put the plastic knife in the plastic glass 3- pick the plastic fork from the table 4- place the plastic fork in the plastic glass 5- pick the plastic spoons 6- place the plastic spoon in the glass 7- place the glass upright Q: immediate next step? \u003cPRED\u003eA: pick the plastic knife\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the plastic knife Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the plastic knife Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14672209702449910493.mp4"}
+{"uid":"7592125233698572974","text":"\u003ctask:success:discrete:True\u003e\npick the plastic spoon from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick the plastic spoon from the table\n\u003c/PRED\u003e","video":"7694293728976151757.mp4"}
+{"uid":"14234790601294124382","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the plastic knife in the glass\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the plastic knife in the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11879169773714456561.mp4"}
+{"uid":"5699280879372968126","text":"\u003ctask:success:discrete:False\u003e\npick the plastic spoon Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the plastic spoon\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please clean up the desk by placing all the utensils back into the cup Q: immediate next step? \u003cPRED\u003eA: pick the plastic spoon\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the plastic spoon\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please clean up the desk by placing all the utensils back into the cup. last 20 steps: 1- pick a plastic knife from the table 2- put the plastic knife in the plastic glass 3- pick the plastic fork from the table 4- place the plastic fork in the plastic glass 5- pick the plastic spoons 6- place the plastic spoon in the glass 7- place the glass upright 8- pick the plastic knife from the table 9- place the plastic knife in the glass 10- pick the plastic spoon from the table 11- put the plastic spoon in the glass 12- pick the plastic spoon from the table 13- place the plastic spoons in the glass Q: next 5 steps? \u003cPRED\u003eA: 1- pick the plastic spoon 2- place the spoon in the plastic glass 3- pick the plastic glass from the table 4- place the plastic glass on the table 5- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please clean up the desk by placing all the utensils back into the cup. last 20 steps: 1- pick a plastic knife from the table 2- put the plastic knife in the plastic glass 3- pick the plastic fork from the table 4- place the plastic fork in the plastic glass 5- pick the plastic spoons 6- place the plastic spoon in the glass 7- place the glass upright 8- pick the plastic knife from the table 9- place the plastic knife in the glass 10- pick the plastic spoon from the table 11- put the plastic spoon in the glass 12- pick the plastic spoon from the table 13- place the plastic spoons in the glass Q: immediate next step? \u003cPRED\u003eA: pick the plastic spoon\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the plastic spoon Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10082146921250995489.mp4"}
+{"uid":"17333620697245030302","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please clean up the desk by placing all the utensils back into the cup Q: immediate next step? \u003cPRED\u003eA: pick the plastic spoons from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the plastic spoons from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please clean up the desk by placing all the utensils back into the cup. last 20 steps: 1- pick a plastic knife from the table 2- put the plastic knife in the plastic glass 3- pick the plastic fork from the table 4- place the plastic fork in the plastic glass 5- pick the plastic spoons 6- place the plastic spoon in the glass 7- place the glass upright 8- pick the plastic knife from the table 9- place the plastic knife in the glass 10- pick the plastic spoon from the table 11- put the plastic spoon in the glass Q: next 5 steps? \u003cPRED\u003eA: 1- pick the plastic spoons from the table 2- pick the plastic spoon from the floor 3- place the spoon in the plastic glass 4- pick the plastic glass from the table 5- place the plastic glass on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the plastic spoons from the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the plastic spoons from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please clean up the desk by placing all the utensils back into the cup. last 20 steps: 1- pick a plastic knife from the table 2- put the plastic knife in the plastic glass 3- pick the plastic fork from the table 4- place the plastic fork in the plastic glass 5- pick the plastic spoons 6- place the plastic spoon in the glass 7- place the glass upright 8- pick the plastic knife from the table 9- place the plastic knife in the glass 10- pick the plastic spoon from the table 11- put the plastic spoon in the glass Q: immediate next step? \u003cPRED\u003eA: pick the plastic spoons from the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the plastic spoons from the table\n\u003c/PRED\u003e","video":"5099713394975930884.mp4"}
+{"uid":"9194616544678521731","text":"\u003ctask:success:discrete:True\u003e\nplace the plastic spoon in the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the plastic spoon in the glass\n\u003c/PRED\u003e","video":"17408951296464665557.mp4"}
+{"uid":"17653194442190195284","text":"\u003ctask:success:discrete:True\u003e\npick the plastic spoon from the floor Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick the plastic spoon from the floor Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick the plastic spoon from the floor\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick the plastic spoon from the floor\n\u003c/PRED\u003e","video":"925793310937704682.mp4"}
+{"uid":"8784681216986941138","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the Pistachio cup on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11071755830948811405.mp4"}
+{"uid":"11356825662993695631","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please clean up the desk by placing all the utensils back into the cup Q: immediate next step? \u003cPRED\u003eA: pick the plastic glass from the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the plastic glass from the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the plastic glass from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please clean up the desk by placing all the utensils back into the cup. last 20 steps: 1- pick a plastic knife from the table 2- put the plastic knife in the plastic glass 3- pick the plastic fork from the table 4- place the plastic fork in the plastic glass 5- pick the plastic spoons 6- place the plastic spoon in the glass 7- place the glass upright 8- pick the plastic knife from the table 9- place the plastic knife in the glass 10- pick the plastic spoon from the table 11- put the plastic spoon in the glass 12- pick the plastic spoon from the table 13- place the plastic spoons in the glass 14- pick the plastic spoon from the floor 15- place the spoon in the plastic glass Q: immediate next step? \u003cPRED\u003eA: pick the plastic glass from the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please clean up the desk by placing all the utensils back into the cup. last 20 steps: 1- pick a plastic knife from the table 2- put the plastic knife in the plastic glass 3- pick the plastic fork from the table 4- place the plastic fork in the plastic glass 5- pick the plastic spoons 6- place the plastic spoon in the glass 7- place the glass upright 8- pick the plastic knife from the table 9- place the plastic knife in the glass 10- pick the plastic spoon from the table 11- put the plastic spoon in the glass 12- pick the plastic spoon from the table 13- place the plastic spoons in the glass 14- pick the plastic spoon from the floor 15- place the spoon in the plastic glass Q: next 5 steps? \u003cPRED\u003eA: 1- pick the plastic glass from the table 2- place the plastic glass on the table 3- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the plastic glass from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the plastic glass from the table\n\u003c/PRED\u003e","video":"2159190464809114025.mp4"}
+{"uid":"4271211455717109338","text":"\u003ctask:success:discrete:False\u003e\nplace the plastic glass on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please clean up the desk by placing all the utensils back into the cup. last 20 steps: 1- pick a plastic knife from the table 2- put the plastic knife in the plastic glass 3- pick the plastic fork from the table 4- place the plastic fork in the plastic glass 5- pick the plastic spoons 6- place the plastic spoon in the glass 7- place the glass upright 8- pick the plastic knife from the table 9- place the plastic knife in the glass 10- pick the plastic spoon from the table 11- put the plastic spoon in the glass 12- pick the plastic spoon from the table 13- place the plastic spoons in the glass 14- pick the plastic spoon from the floor 15- place the spoon in the plastic glass 16- pick the plastic glass from the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the plastic glass on the table 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please clean up the desk by placing all the utensils back into the cup Q: immediate next step? \u003cPRED\u003eA: place the plastic glass on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please clean up the desk by placing all the utensils back into the cup. last 20 steps: 1- pick a plastic knife from the table 2- put the plastic knife in the plastic glass 3- pick the plastic fork from the table 4- place the plastic fork in the plastic glass 5- pick the plastic spoons 6- place the plastic spoon in the glass 7- place the glass upright 8- pick the plastic knife from the table 9- place the plastic knife in the glass 10- pick the plastic spoon from the table 11- put the plastic spoon in the glass 12- pick the plastic spoon from the table 13- place the plastic spoons in the glass 14- pick the plastic spoon from the floor 15- place the spoon in the plastic glass 16- pick the plastic glass from the table Q: immediate next step? \u003cPRED\u003eA: place the plastic glass on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the plastic glass on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the plastic glass on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the plastic glass on the table\n\u003c/PRED\u003e","video":"18373730749646107093.mp4"}
+{"uid":"17901795230135087103","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick the plastic spoon\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick the plastic spoon Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3820734792757938157.mp4"}
+{"uid":"12166324515178173186","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove your arm back Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17939845116630066951.mp4"}
+{"uid":"6825282810792170048","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput blue pen in the pen stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12162594839841272673.mp4"}
+{"uid":"11849969769083408391","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the plastic fork from the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please clean up the desk by placing all the utensils back into the cup. last 20 steps: 1- pick a plastic knife from the table 2- put the plastic knife in the plastic glass Q: immediate next step? \u003cPRED\u003eA: pick the plastic fork from the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the plastic fork from the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please clean up the desk by placing all the utensils back into the cup. last 20 steps: 1- pick a plastic knife from the table 2- put the plastic knife in the plastic glass Q: next 5 steps? \u003cPRED\u003eA: 1- pick the plastic fork from the table 2- place the plastic fork in the plastic glass 3- pick the plastic spoons 4- place the plastic spoon in the glass 5- place the glass upright\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the plastic fork from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the plastic fork from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please clean up the desk by placing all the utensils back into the cup Q: immediate next step? \u003cPRED\u003eA: pick the plastic fork from the table\n\u003c/PRED\u003e","video":"10650035009500511418.mp4"}
+{"uid":"7220479094658826470","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please clean up the desk by placing all the utensils back into the cup Q: immediate next step? \u003cPRED\u003eA: place the plastic spoon in the glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please clean up the desk by placing all the utensils back into the cup. last 20 steps: 1- pick a plastic knife from the table 2- put the plastic knife in the plastic glass 3- pick the plastic fork from the table 4- place the plastic fork in the plastic glass 5- pick the plastic spoons 6- place the plastic spoon in the glass 7- place the glass upright 8- pick the plastic knife from the table 9- place the plastic knife in the glass 10- pick the plastic spoon from the table Q: immediate next step? \u003cPRED\u003eA: place the plastic spoon in the glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please clean up the desk by placing all the utensils back into the cup. last 20 steps: 1- pick a plastic knife from the table 2- put the plastic knife in the plastic glass 3- pick the plastic fork from the table 4- place the plastic fork in the plastic glass 5- pick the plastic spoons 6- place the plastic spoon in the glass 7- place the glass upright 8- pick the plastic knife from the table 9- place the plastic knife in the glass 10- pick the plastic spoon from the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the plastic spoon in the glass 2- pick the plastic spoon from the table 3- place the plastic spoons in the glass 4- pick the plastic spoon from the floor 5- place the spoon in the plastic glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the plastic spoon in the glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the plastic spoon in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the plastic spoon in the glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the plastic spoon in the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18376619634750531220.mp4"}
+{"uid":"8869031207467550647","text":"\u003ctask:success:discrete:False\u003e\nplace the plastic spoons in the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please clean up the desk by placing all the utensils back into the cup Q: immediate next step? \u003cPRED\u003eA: place the plastic spoons in the glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please clean up the desk by placing all the utensils back into the cup. last 20 steps: 1- pick a plastic knife from the table 2- put the plastic knife in the plastic glass 3- pick the plastic fork from the table 4- place the plastic fork in the plastic glass 5- pick the plastic spoons 6- place the plastic spoon in the glass 7- place the glass upright 8- pick the plastic knife from the table 9- place the plastic knife in the glass 10- pick the plastic spoon from the table 11- put the plastic spoon in the glass Q: next 5 steps? \u003cPRED\u003eA: 1- place the plastic spoons in the glass 2- pick the plastic spoon from the floor 3- place the spoon in the plastic glass 4- pick the plastic glass from the table 5- place the plastic glass on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the plastic spoons in the glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the plastic spoons in the glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the plastic spoons in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please clean up the desk by placing all the utensils back into the cup. last 20 steps: 1- pick a plastic knife from the table 2- put the plastic knife in the plastic glass 3- pick the plastic fork from the table 4- place the plastic fork in the plastic glass 5- pick the plastic spoons 6- place the plastic spoon in the glass 7- place the glass upright 8- pick the plastic knife from the table 9- place the plastic knife in the glass 10- pick the plastic spoon from the table 11- put the plastic spoon in the glass Q: immediate next step? \u003cPRED\u003eA: place the plastic spoons in the glass\n\u003c/PRED\u003e","video":"2911008017309301520.mp4"}
+{"uid":"7267886112991711214","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the candy in the left glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9709348975578080953.mp4"}
+{"uid":"11201491094171236493","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput white duck in basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1851050207243712491.mp4"}
+{"uid":"6539346991337795466","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the plastic knife in the plastic glass\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the plastic knife in the plastic glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15604495554126076475.mp4"}
+{"uid":"17251959791269047979","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please clean up the desk by placing all the utensils back into the cup. last 20 steps: 1- pick a plastic knife from the table 2- put the plastic knife in the plastic glass 3- pick the plastic fork from the table 4- place the plastic fork in the plastic glass 5- pick the plastic spoons 6- place the plastic spoon in the glass 7- place the glass upright 8- pick the plastic knife from the table 9- place the plastic knife in the glass 10- pick the plastic spoon from the table 11- put the plastic spoon in the glass 12- pick the plastic spoon from the table 13- place the plastic spoons in the glass 14- pick the plastic spoon from the floor 15- place the spoon in the plastic glass Q: immediate next step? \u003cPRED\u003eA: pick the plastic glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the plastic glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please clean up the desk by placing all the utensils back into the cup Q: immediate next step? \u003cPRED\u003eA: pick the plastic glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the plastic glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the plastic glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the plastic glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please clean up the desk by placing all the utensils back into the cup. last 20 steps: 1- pick a plastic knife from the table 2- put the plastic knife in the plastic glass 3- pick the plastic fork from the table 4- place the plastic fork in the plastic glass 5- pick the plastic spoons 6- place the plastic spoon in the glass 7- place the glass upright 8- pick the plastic knife from the table 9- place the plastic knife in the glass 10- pick the plastic spoon from the table 11- put the plastic spoon in the glass 12- pick the plastic spoon from the table 13- place the plastic spoons in the glass 14- pick the plastic spoon from the floor 15- place the spoon in the plastic glass Q: next 5 steps? \u003cPRED\u003eA: 1- pick the plastic glass 2- done\n\u003c/PRED\u003e","video":"12373818688453978999.mp4"}
+{"uid":"700658151095662374","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the plastic glass on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please clean up the desk by placing all the utensils back into the cup. last 20 steps: 1- pick a plastic knife from the table 2- put the plastic knife in the plastic glass 3- pick the plastic fork from the table 4- place the plastic fork in the plastic glass 5- pick the plastic spoons 6- place the plastic spoon in the glass 7- place the glass upright 8- pick the plastic knife from the table 9- place the plastic knife in the glass 10- pick the plastic spoon from the table 11- put the plastic spoon in the glass 12- pick the plastic spoon from the table 13- place the plastic spoons in the glass 14- pick the plastic spoon from the floor 15- place the spoon in the plastic glass 16- pick the plastic glass from the table 17- place the plastic glass on the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the plastic glass on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please clean up the desk by placing all the utensils back into the cup Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please clean up the desk by placing all the utensils back into the cup. last 20 steps: 1- pick a plastic knife from the table 2- put the plastic knife in the plastic glass 3- pick the plastic fork from the table 4- place the plastic fork in the plastic glass 5- pick the plastic spoons 6- place the plastic spoon in the glass 7- place the glass upright 8- pick the plastic knife from the table 9- place the plastic knife in the glass 10- pick the plastic spoon from the table 11- put the plastic spoon in the glass 12- pick the plastic spoon from the table 13- place the plastic spoons in the glass 14- pick the plastic spoon from the floor 15- place the spoon in the plastic glass 16- pick the plastic glass from the table 17- place the plastic glass on the table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"3702108697625308210.mp4"}
+{"uid":"10743768806671981009","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the plastic knife along with the plastic fork\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the plastic knife along with the plastic fork Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please clean up the desk by placing all the utensils back into the cup. last 20 steps: 1- pick a plastic knife from the table 2- put the plastic knife in the plastic glass 3- pick the plastic fork from the table 4- place the plastic fork in the plastic glass 5- pick the plastic spoons 6- place the plastic spoon in the glass 7- place the glass upright 8- pick the plastic knife from the table 9- place the plastic knife in the glass 10- pick the plastic spoon from the table 11- put the plastic spoon in the glass Q: next 5 steps? \u003cPRED\u003eA: 1- pick the plastic knife along with the plastic fork 2- pick the plastic spoon from the floor 3- place the spoon in the plastic glass 4- pick the plastic glass from the table 5- place the plastic glass on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the plastic knife along with the plastic fork Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please clean up the desk by placing all the utensils back into the cup Q: immediate next step? \u003cPRED\u003eA: pick the plastic knife along with the plastic fork\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please clean up the desk by placing all the utensils back into the cup. last 20 steps: 1- pick a plastic knife from the table 2- put the plastic knife in the plastic glass 3- pick the plastic fork from the table 4- place the plastic fork in the plastic glass 5- pick the plastic spoons 6- place the plastic spoon in the glass 7- place the glass upright 8- pick the plastic knife from the table 9- place the plastic knife in the glass 10- pick the plastic spoon from the table 11- put the plastic spoon in the glass Q: immediate next step? \u003cPRED\u003eA: pick the plastic knife along with the plastic fork\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the plastic knife along with the plastic fork\n\u003c/PRED\u003e","video":"11238355548237253002.mp4"}
+{"uid":"7985308715942054713","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nopen the packet Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8198716502106382121.mp4"}
+{"uid":"1818768517268555250","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please clean up the desk by placing all the utensils back into the cup. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: pick a plastic knife\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick a plastic knife\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick a plastic knife\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please clean up the desk by placing all the utensils back into the cup. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- pick a plastic knife 2- put the plastic knife in the plastic glass 3- pick the plastic fork from the table 4- place the plastic fork in the plastic glass 5- pick the plastic spoons\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick a plastic knife Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick a plastic knife Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please clean up the desk by placing all the utensils back into the cup Q: immediate next step? \u003cPRED\u003eA: pick a plastic knife\n\u003c/PRED\u003e","video":"2109245069617747259.mp4"}
+{"uid":"7629903843015970014","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please clean up the desk by placing all the utensils back into the cup Q: immediate next step? \u003cPRED\u003eA: pick the plastic knife from the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the plastic knife from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the plastic knife from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please clean up the desk by placing all the utensils back into the cup. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: pick the plastic knife from the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please clean up the desk by placing all the utensils back into the cup. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- pick the plastic knife from the table 2- pick the plastic fork from the table 3- place the plastic fork in the plastic glass 4- pick the plastic spoons 5- place the plastic spoon in the glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the plastic knife from the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the plastic knife from the table\n\u003c/PRED\u003e","video":"16681174076689504698.mp4"}
+{"uid":"7280429802231524148","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the red packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the plastic fork in the plastic glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the plastic fork in the plastic glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please clean up the desk by placing all the utensils back into the cup. last 20 steps: 1- pick a plastic knife from the table 2- put the plastic knife in the plastic glass 3- pick the plastic fork from the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the plastic fork in the plastic glass 2- pick the plastic spoons 3- place the plastic spoon in the glass 4- place the glass upright 5- pick the plastic knife from the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please clean up the desk by placing all the utensils back into the cup. last 20 steps: 1- pick a plastic knife from the table 2- put the plastic knife in the plastic glass 3- pick the plastic fork from the table Q: immediate next step? \u003cPRED\u003eA: place the plastic fork in the plastic glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the plastic fork in the plastic glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the plastic fork in the plastic glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please clean up the desk by placing all the utensils back into the cup Q: immediate next step? \u003cPRED\u003eA: place the plastic fork in the plastic glass\n\u003c/PRED\u003e","video":"15225942468365725775.mp4"}
+{"uid":"17534392178977839199","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick a plastic fork\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick a plastic fork Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please clean up the desk by placing all the utensils back into the cup. last 20 steps: 1- pick a plastic knife from the table 2- put the plastic knife in the plastic glass Q: next 5 steps? \u003cPRED\u003eA: 1- pick a plastic fork 2- place the plastic fork in the plastic glass 3- pick the plastic spoons 4- place the plastic spoon in the glass 5- place the glass upright\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick a plastic fork Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please clean up the desk by placing all the utensils back into the cup. last 20 steps: 1- pick a plastic knife from the table 2- put the plastic knife in the plastic glass Q: immediate next step? \u003cPRED\u003eA: pick a plastic fork\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick a plastic fork\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please clean up the desk by placing all the utensils back into the cup Q: immediate next step? \u003cPRED\u003eA: pick a plastic fork\n\u003c/PRED\u003e","video":"13389899041378837096.mp4"}
+{"uid":"676799647260298834","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please clean up the desk by placing all the utensils back into the cup. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- pick a plastic knife from the table 2- put the plastic knife in the plastic glass 3- pick the plastic fork from the table 4- place the plastic fork in the plastic glass 5- pick the plastic spoons\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick a plastic knife from the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please clean up the desk by placing all the utensils back into the cup Q: immediate next step? \u003cPRED\u003eA: pick a plastic knife from the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick a plastic knife from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please clean up the desk by placing all the utensils back into the cup. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: pick a plastic knife from the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick a plastic knife from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick a plastic knife from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6255885715874980002.mp4"}
+{"uid":"17838119692292671718","text":"\u003ctask:success:discrete:True\u003e\nplace the spoon in the plastic glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the spoon in the plastic glass\n\u003c/PRED\u003e","video":"5943468162368655586.mp4"}
+{"uid":"13462985912660789541","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the spoons in the plastic glass\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the spoons in the plastic glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15868819808285993532.mp4"}
+{"uid":"10052983637359352112","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nThrow the chocolate in the recyclebin. Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17065777004951420037.mp4"}
+{"uid":"9297826321874210906","text":"\u003ctask:success:discrete:True\u003e\npick the plastic fork from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick the plastic fork from the table\n\u003c/PRED\u003e","video":"10397358175778033159.mp4"}
+{"uid":"9609312097949502664","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the plastic spoons\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the plastic spoons Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please clean up the desk by placing all the utensils back into the cup. last 20 steps: 1- pick a plastic knife from the table 2- put the plastic knife in the plastic glass 3- pick the plastic fork from the table 4- place the plastic fork in the plastic glass Q: next 5 steps? \u003cPRED\u003eA: 1- pick the plastic spoons 2- place the glass upright 3- pick the plastic knife from the table 4- place the plastic knife in the glass 5- pick the plastic spoon from the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please clean up the desk by placing all the utensils back into the cup Q: immediate next step? \u003cPRED\u003eA: pick the plastic spoons\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the plastic spoons Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please clean up the desk by placing all the utensils back into the cup. last 20 steps: 1- pick a plastic knife from the table 2- put the plastic knife in the plastic glass 3- pick the plastic fork from the table 4- place the plastic fork in the plastic glass Q: immediate next step? \u003cPRED\u003eA: pick the plastic spoons\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the plastic spoons\n\u003c/PRED\u003e","video":"17817701816379516343.mp4"}
+{"uid":"15674363869051494222","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the blue pouch in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2073616845851598035.mp4"}
+{"uid":"5677659296230120223","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the plastic knife from the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please clean up the desk by placing all the utensils back into the cup. last 20 steps: 1- pick a plastic knife from the table 2- put the plastic knife in the plastic glass 3- pick the plastic fork from the table 4- place the plastic fork in the plastic glass 5- pick the plastic spoons 6- place the plastic spoon in the glass 7- place the glass upright Q: immediate next step? \u003cPRED\u003eA: pick the plastic knife from the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please clean up the desk by placing all the utensils back into the cup. last 20 steps: 1- pick a plastic knife from the table 2- put the plastic knife in the plastic glass 3- pick the plastic fork from the table 4- place the plastic fork in the plastic glass 5- pick the plastic spoons 6- place the plastic spoon in the glass 7- place the glass upright Q: next 5 steps? \u003cPRED\u003eA: 1- pick the plastic knife from the table 2- place the plastic knife in the glass 3- pick the plastic spoon from the table 4- put the plastic spoon in the glass 5- pick the plastic spoon from the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please clean up the desk by placing all the utensils back into the cup Q: immediate next step? \u003cPRED\u003eA: pick the plastic knife from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the plastic knife from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the plastic knife from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the plastic knife from the table\n\u003c/PRED\u003e","video":"602377727847763858.mp4"}
+{"uid":"7461734903904779958","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the plastic glass from the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the plastic glass from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please clean up the desk by placing all the utensils back into the cup. last 20 steps: 1- pick a plastic knife from the table 2- put the plastic knife in the plastic glass 3- pick the plastic fork from the table 4- place the plastic fork in the plastic glass 5- pick the plastic spoons 6- place the plastic spoon in the glass 7- place the glass upright 8- pick the plastic knife from the table 9- place the plastic knife in the glass 10- pick the plastic spoon from the table 11- put the plastic spoon in the glass 12- pick the plastic spoon from the table 13- place the plastic spoons in the glass 14- pick the plastic spoon from the floor 15- place the spoon in the plastic glass Q: next 5 steps? \u003cPRED\u003eA: 1- pick the plastic glass from the table 2- place the plastic glass on the table 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please clean up the desk by placing all the utensils back into the cup. last 20 steps: 1- pick a plastic knife from the table 2- put the plastic knife in the plastic glass 3- pick the plastic fork from the table 4- place the plastic fork in the plastic glass 5- pick the plastic spoons 6- place the plastic spoon in the glass 7- place the glass upright 8- pick the plastic knife from the table 9- place the plastic knife in the glass 10- pick the plastic spoon from the table 11- put the plastic spoon in the glass 12- pick the plastic spoon from the table 13- place the plastic spoons in the glass 14- pick the plastic spoon from the floor 15- place the spoon in the plastic glass Q: immediate next step? \u003cPRED\u003eA: pick the plastic glass from the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the plastic glass from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the plastic glass from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please clean up the desk by placing all the utensils back into the cup Q: immediate next step? \u003cPRED\u003eA: pick the plastic glass from the table\n\u003c/PRED\u003e","video":"10800389895023305833.mp4"}
+{"uid":"8798696589916775840","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick a plastic fork from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick a plastic fork from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11561488962629403343.mp4"}
+{"uid":"2536532726419409350","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the plastic knife in the plastic glass\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the plastic knife in the plastic glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4958517296697718115.mp4"}
+{"uid":"13389034322309127456","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the wrapper in the dustbin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1940451428011510476.mp4"}
+{"uid":"3448301607008268117","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick the plastic knife from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick the plastic knife from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1067905091888299098.mp4"}
+{"uid":"9573266773203985937","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the plastic glass upright on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the plastic glass upright on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the plastic glass upright on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please clean up the desk by placing all the utensils back into the cup Q: immediate next step? \u003cPRED\u003eA: place the plastic glass upright on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the plastic glass upright on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please clean up the desk by placing all the utensils back into the cup. last 20 steps: 1- pick a plastic knife from the table 2- put the plastic knife in the plastic glass 3- pick the plastic fork from the table 4- place the plastic fork in the plastic glass 5- pick the plastic spoons 6- place the plastic spoon in the glass Q: next 5 steps? \u003cPRED\u003eA: 1- place the plastic glass upright on the table 2- pick the plastic knife from the table 3- place the plastic knife in the glass 4- pick the plastic spoon from the table 5- put the plastic spoon in the glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please clean up the desk by placing all the utensils back into the cup. last 20 steps: 1- pick a plastic knife from the table 2- put the plastic knife in the plastic glass 3- pick the plastic fork from the table 4- place the plastic fork in the plastic glass 5- pick the plastic spoons 6- place the plastic spoon in the glass Q: immediate next step? \u003cPRED\u003eA: place the plastic glass upright on the table\n\u003c/PRED\u003e","video":"8799819546628416985.mp4"}
+{"uid":"10226299572612456746","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace pistachio cup on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2014618878734774276.mp4"}
+{"uid":"10154574620730369458","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the red bull tin on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13338580941870696367.mp4"}
+{"uid":"3727987979099530526","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the orange pen in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13365261195450358003.mp4"}
+{"uid":"3198687145784139211","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please clean up the desk by placing all the utensils back into the cup. last 20 steps: 1- pick a plastic knife from the table 2- put the plastic knife in the plastic glass 3- pick the plastic fork from the table 4- place the plastic fork in the plastic glass 5- pick the plastic spoons 6- place the plastic spoon in the glass 7- place the glass upright 8- pick the plastic knife from the table 9- place the plastic knife in the glass Q: immediate next step? \u003cPRED\u003eA: pick the plastic spoon from the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the plastic spoon from the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please clean up the desk by placing all the utensils back into the cup. last 20 steps: 1- pick a plastic knife from the table 2- put the plastic knife in the plastic glass 3- pick the plastic fork from the table 4- place the plastic fork in the plastic glass 5- pick the plastic spoons 6- place the plastic spoon in the glass 7- place the glass upright 8- pick the plastic knife from the table 9- place the plastic knife in the glass Q: next 5 steps? \u003cPRED\u003eA: 1- pick the plastic spoon from the table 2- put the plastic spoon in the glass 3- pick the plastic spoon from the table 4- place the plastic spoons in the glass 5- pick the plastic spoon from the floor\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the plastic spoon from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the plastic spoon from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the plastic spoon from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please clean up the desk by placing all the utensils back into the cup Q: immediate next step? \u003cPRED\u003eA: pick the plastic spoon from the table\n\u003c/PRED\u003e","video":"9442101700244465188.mp4"}
+{"uid":"6295194992588330053","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the green candy in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7447347797988983806.mp4"}
+{"uid":"13778570153820266326","text":"\u003ctask:success:discrete:False\u003e\nput the plastic spoon in the plastic glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please clean up the desk by placing all the utensils back into the cup. last 20 steps: 1- pick a plastic knife from the table 2- put the plastic knife in the plastic glass 3- pick the plastic fork from the table 4- place the plastic fork in the plastic glass 5- pick the plastic spoons 6- place the plastic spoon in the glass 7- place the glass upright 8- pick the plastic knife from the table 9- place the plastic knife in the glass 10- pick the plastic spoon from the table 11- put the plastic spoon in the glass 12- pick the plastic spoon from the table 13- place the plastic spoons in the glass 14- pick the plastic spoon from the floor Q: immediate next step? \u003cPRED\u003eA: put the plastic spoon in the plastic glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the plastic spoon in the plastic glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please clean up the desk by placing all the utensils back into the cup Q: immediate next step? \u003cPRED\u003eA: put the plastic spoon in the plastic glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the plastic spoon in the plastic glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the plastic spoon in the plastic glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please clean up the desk by placing all the utensils back into the cup. last 20 steps: 1- pick a plastic knife from the table 2- put the plastic knife in the plastic glass 3- pick the plastic fork from the table 4- place the plastic fork in the plastic glass 5- pick the plastic spoons 6- place the plastic spoon in the glass 7- place the glass upright 8- pick the plastic knife from the table 9- place the plastic knife in the glass 10- pick the plastic spoon from the table 11- put the plastic spoon in the glass 12- pick the plastic spoon from the table 13- place the plastic spoons in the glass 14- pick the plastic spoon from the floor Q: next 5 steps? \u003cPRED\u003eA: 1- put the plastic spoon in the plastic glass 2- pick the plastic glass from the table 3- place the plastic glass on the table 4- done\n\u003c/PRED\u003e","video":"10228017174759122428.mp4"}
+{"uid":"10219244746342889490","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nopen the freezer door Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15891066900771837028.mp4"}
+{"uid":"1227451343468376528","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please clean up the desk by placing all the utensils back into the cup. last 20 steps: 1- pick a plastic knife from the table 2- put the plastic knife in the plastic glass 3- pick the plastic fork from the table 4- place the plastic fork in the plastic glass Q: immediate next step? \u003cPRED\u003eA: place the plastic spoon in the glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the plastic spoon in the glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the plastic spoon in the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the plastic spoon in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please clean up the desk by placing all the utensils back into the cup. last 20 steps: 1- pick a plastic knife from the table 2- put the plastic knife in the plastic glass 3- pick the plastic fork from the table 4- place the plastic fork in the plastic glass Q: next 5 steps? \u003cPRED\u003eA: 1- place the plastic spoon in the glass 2- place the glass upright 3- pick the plastic knife from the table 4- place the plastic knife in the glass 5- pick the plastic spoon from the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the plastic spoon in the glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please clean up the desk by placing all the utensils back into the cup Q: immediate next step? \u003cPRED\u003eA: place the plastic spoon in the glass\n\u003c/PRED\u003e","video":"15547490188814088329.mp4"}
+{"uid":"7515492164268600435","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut yellow marker in holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13695903856208372072.mp4"}
+{"uid":"1690049254374900346","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the plastic knife in the plastic glass\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the plastic knife in the plastic glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5960941140195456764.mp4"}
+{"uid":"5747152037054930027","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the Pistachio in plastic cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18337933984897089649.mp4"}
+{"uid":"7635524636542551644","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please clean up the desk by placing all the utensils back into the cup. last 20 steps: 1- pick a plastic knife from the table 2- put the plastic knife in the plastic glass 3- pick the plastic fork from the table 4- place the plastic fork in the plastic glass 5- pick the plastic spoons 6- place the plastic spoon in the glass 7- place the glass upright 8- pick the plastic knife from the table 9- place the plastic knife in the glass 10- pick the plastic spoon from the table Q: next 5 steps? \u003cPRED\u003eA: 1- pick the plastic spoon from the table 2- pick the plastic spoon from the floor 3- place the spoon in the plastic glass 4- pick the plastic glass from the table 5- place the plastic glass on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the plastic spoon from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the plastic spoon from the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please clean up the desk by placing all the utensils back into the cup Q: immediate next step? \u003cPRED\u003eA: pick the plastic spoon from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the plastic spoon from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the plastic spoon from the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please clean up the desk by placing all the utensils back into the cup. last 20 steps: 1- pick a plastic knife from the table 2- put the plastic knife in the plastic glass 3- pick the plastic fork from the table 4- place the plastic fork in the plastic glass 5- pick the plastic spoons 6- place the plastic spoon in the glass 7- place the glass upright 8- pick the plastic knife from the table 9- place the plastic knife in the glass 10- pick the plastic spoon from the table Q: immediate next step? \u003cPRED\u003eA: pick the plastic spoon from the table\n\u003c/PRED\u003e","video":"6321857845840112681.mp4"}
+{"uid":"3119126458871452078","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please clean up the desk by placing all the utensils back into the cup. last 20 steps: 1- pick a plastic knife from the table Q: immediate next step? \u003cPRED\u003eA: put the plastic knife in the plastic glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please clean up the desk by placing all the utensils back into the cup Q: immediate next step? \u003cPRED\u003eA: put the plastic knife in the plastic glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the plastic knife in the plastic glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please clean up the desk by placing all the utensils back into the cup. last 20 steps: 1- pick a plastic knife from the table Q: next 5 steps? \u003cPRED\u003eA: 1- put the plastic knife in the plastic glass 2- pick the plastic fork from the table 3- place the plastic fork in the plastic glass 4- pick the plastic spoons 5- place the plastic spoon in the glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the plastic knife in the plastic glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the plastic knife in the plastic glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the plastic knife in the plastic glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5908646993055178439.mp4"}
+{"uid":"9303103162878162546","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the plastic glass upright on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please clean up the desk by placing all the utensils back into the cup. last 20 steps: 1- pick a plastic knife from the table 2- put the plastic knife in the plastic glass 3- pick the plastic fork from the table 4- place the plastic fork in the plastic glass 5- pick the plastic spoons 6- place the plastic spoon in the glass 7- place the glass upright 8- pick the plastic knife from the table 9- place the plastic knife in the glass 10- pick the plastic spoon from the table 11- put the plastic spoon in the glass 12- pick the plastic spoon from the table 13- place the plastic spoons in the glass 14- pick the plastic spoon from the floor 15- place the spoon in the plastic glass 16- pick the plastic glass from the table Q: immediate next step? \u003cPRED\u003eA: place the plastic glass upright on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please clean up the desk by placing all the utensils back into the cup. last 20 steps: 1- pick a plastic knife from the table 2- put the plastic knife in the plastic glass 3- pick the plastic fork from the table 4- place the plastic fork in the plastic glass 5- pick the plastic spoons 6- place the plastic spoon in the glass 7- place the glass upright 8- pick the plastic knife from the table 9- place the plastic knife in the glass 10- pick the plastic spoon from the table 11- put the plastic spoon in the glass 12- pick the plastic spoon from the table 13- place the plastic spoons in the glass 14- pick the plastic spoon from the floor 15- place the spoon in the plastic glass 16- pick the plastic glass from the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the plastic glass upright on the table 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the plastic glass upright on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please clean up the desk by placing all the utensils back into the cup Q: immediate next step? \u003cPRED\u003eA: place the plastic glass upright on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the plastic glass upright on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the plastic glass upright on the table\n\u003c/PRED\u003e","video":"16177774138450974854.mp4"}
+{"uid":"16059325644557203456","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nOpen drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9157328149352120125.mp4"}
+{"uid":"7377004821456778297","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the plastic spoons in the plastic glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please clean up the desk by placing all the utensils back into the cup Q: immediate next step? \u003cPRED\u003eA: place the plastic spoons in the plastic glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the plastic spoons in the plastic glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please clean up the desk by placing all the utensils back into the cup. last 20 steps: 1- pick a plastic knife from the table 2- put the plastic knife in the plastic glass 3- pick the plastic fork from the table 4- place the plastic fork in the plastic glass Q: next 5 steps? \u003cPRED\u003eA: 1- place the plastic spoons in the plastic glass 2- place the glass upright 3- pick the plastic knife from the table 4- place the plastic knife in the glass 5- pick the plastic spoon from the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please clean up the desk by placing all the utensils back into the cup. last 20 steps: 1- pick a plastic knife from the table 2- put the plastic knife in the plastic glass 3- pick the plastic fork from the table 4- place the plastic fork in the plastic glass Q: immediate next step? \u003cPRED\u003eA: place the plastic spoons in the plastic glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the plastic spoons in the plastic glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the plastic spoons in the plastic glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15017862354986246468.mp4"}
+{"uid":"10087020814655256714","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the spoons in the plastic glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the spoons in the plastic glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please clean up the desk by placing all the utensils back into the cup. last 20 steps: 1- pick a plastic knife from the table 2- put the plastic knife in the plastic glass 3- pick the plastic fork from the table 4- place the plastic fork in the plastic glass 5- pick the plastic spoons 6- place the plastic spoon in the glass 7- place the glass upright 8- pick the plastic knife from the table 9- place the plastic knife in the glass 10- pick the plastic spoon from the table 11- put the plastic spoon in the glass 12- pick the plastic spoon from the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the spoons in the plastic glass 2- pick the plastic spoon from the floor 3- place the spoon in the plastic glass 4- pick the plastic glass from the table 5- place the plastic glass on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the spoons in the plastic glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the spoons in the plastic glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please clean up the desk by placing all the utensils back into the cup. last 20 steps: 1- pick a plastic knife from the table 2- put the plastic knife in the plastic glass 3- pick the plastic fork from the table 4- place the plastic fork in the plastic glass 5- pick the plastic spoons 6- place the plastic spoon in the glass 7- place the glass upright 8- pick the plastic knife from the table 9- place the plastic knife in the glass 10- pick the plastic spoon from the table 11- put the plastic spoon in the glass 12- pick the plastic spoon from the table Q: immediate next step? \u003cPRED\u003eA: place the spoons in the plastic glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please clean up the desk by placing all the utensils back into the cup Q: immediate next step? \u003cPRED\u003eA: place the spoons in the plastic glass\n\u003c/PRED\u003e","video":"14347830406016449239.mp4"}
+{"uid":"17059051227090375279","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please clean up the desk by placing all the utensils back into the cup. last 20 steps: 1- pick a plastic knife from the table 2- put the plastic knife in the plastic glass 3- pick the plastic fork from the table 4- place the plastic fork in the plastic glass 5- pick the plastic spoons 6- place the plastic spoon in the glass 7- place the glass upright 8- pick the plastic knife from the table 9- place the plastic knife in the glass 10- pick the plastic spoon from the table 11- put the plastic spoon in the glass 12- pick the plastic spoon from the table 13- place the plastic spoons in the glass 14- pick the plastic spoon from the floor Q: next 5 steps? \u003cPRED\u003eA: 1- place the spoon in the plastic glass 2- pick the plastic glass from the table 3- place the plastic glass on the table 4- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the spoon in the plastic glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the spoon in the plastic glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please clean up the desk by placing all the utensils back into the cup. last 20 steps: 1- pick a plastic knife from the table 2- put the plastic knife in the plastic glass 3- pick the plastic fork from the table 4- place the plastic fork in the plastic glass 5- pick the plastic spoons 6- place the plastic spoon in the glass 7- place the glass upright 8- pick the plastic knife from the table 9- place the plastic knife in the glass 10- pick the plastic spoon from the table 11- put the plastic spoon in the glass 12- pick the plastic spoon from the table 13- place the plastic spoons in the glass 14- pick the plastic spoon from the floor Q: immediate next step? \u003cPRED\u003eA: place the spoon in the plastic glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the spoon in the plastic glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the spoon in the plastic glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please clean up the desk by placing all the utensils back into the cup Q: immediate next step? \u003cPRED\u003eA: place the spoon in the plastic glass\n\u003c/PRED\u003e","video":"16197600027739126834.mp4"}
+{"uid":"10442035908284333197","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the plastic knife in the plastic glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the plastic knife in the plastic glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please clean up the desk by placing all the utensils back into the cup. last 20 steps: 1- pick a plastic knife from the table 2- put the plastic knife in the plastic glass 3- pick the plastic fork from the table 4- place the plastic fork in the plastic glass 5- pick the plastic spoons 6- place the plastic spoon in the glass 7- place the glass upright 8- pick the plastic knife from the table Q: next 5 steps? \u003cPRED\u003eA: 1- put the plastic knife in the plastic glass 2- pick the plastic spoon from the table 3- put the plastic spoon in the glass 4- pick the plastic spoon from the table 5- place the plastic spoons in the glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please clean up the desk by placing all the utensils back into the cup Q: immediate next step? \u003cPRED\u003eA: put the plastic knife in the plastic glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please clean up the desk by placing all the utensils back into the cup. last 20 steps: 1- pick a plastic knife from the table 2- put the plastic knife in the plastic glass 3- pick the plastic fork from the table 4- place the plastic fork in the plastic glass 5- pick the plastic spoons 6- place the plastic spoon in the glass 7- place the glass upright 8- pick the plastic knife from the table Q: immediate next step? \u003cPRED\u003eA: put the plastic knife in the plastic glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the plastic knife in the plastic glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the plastic knife in the plastic glass\n\u003c/PRED\u003e","video":"13322496346579531403.mp4"}
+{"uid":"17706476974071662021","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please clean up the desk by placing all the utensils back into the cup. last 20 steps: 1- pick a plastic knife from the table 2- put the plastic knife in the plastic glass 3- pick the plastic fork from the table 4- place the plastic fork in the plastic glass 5- pick the plastic spoons 6- place the plastic spoon in the glass 7- place the glass upright 8- pick the plastic knife from the table 9- place the plastic knife in the glass 10- pick the plastic spoon from the table 11- put the plastic spoon in the glass 12- pick the plastic spoon from the table 13- place the plastic spoons in the glass 14- pick the plastic spoon from the floor 15- place the spoon in the plastic glass 16- pick the plastic glass from the table 17- place the plastic glass on the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please clean up the desk by placing all the utensils back into the cup Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please clean up the desk by placing all the utensils back into the cup. last 20 steps: 1- pick a plastic knife from the table 2- put the plastic knife in the plastic glass 3- pick the plastic fork from the table 4- place the plastic fork in the plastic glass 5- pick the plastic spoons 6- place the plastic spoon in the glass 7- place the glass upright 8- pick the plastic knife from the table 9- place the plastic knife in the glass 10- pick the plastic spoon from the table 11- put the plastic spoon in the glass 12- pick the plastic spoon from the table 13- place the plastic spoons in the glass 14- pick the plastic spoon from the floor 15- place the spoon in the plastic glass 16- pick the plastic glass from the table 17- place the plastic glass on the table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the plastic glass on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the plastic glass on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7116603103490047957.mp4"}
+{"uid":"12760631576064244536","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick the plastic glass from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick the plastic glass from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2072430886313957763.mp4"}
+{"uid":"4793385099555968651","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the yellow packet in the  organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3637484869922701943.mp4"}
+{"uid":"15336226248529680254","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the apple in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"573996822254427048.mp4"}
+{"uid":"772218126028912112","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the oat meal packet in the cart Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13650215574687818328.mp4"}
+{"uid":"17752314518183361273","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please clean up the desk by placing all the utensils back into the cup. last 20 steps: 1- pick a plastic knife from the table 2- put the plastic knife in the plastic glass 3- pick the plastic fork from the table 4- place the plastic fork in the plastic glass 5- pick the plastic spoons 6- place the plastic spoon in the glass 7- place the glass upright 8- pick the plastic knife from the table 9- place the plastic knife in the glass Q: next 5 steps? \u003cPRED\u003eA: 1- pick the plastic spoon 2- put the plastic spoon in the glass 3- pick the plastic spoon from the table 4- place the plastic spoons in the glass 5- pick the plastic spoon from the floor\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the plastic spoon\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the plastic spoon Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the plastic spoon\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please clean up the desk by placing all the utensils back into the cup Q: immediate next step? \u003cPRED\u003eA: pick the plastic spoon\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please clean up the desk by placing all the utensils back into the cup. last 20 steps: 1- pick a plastic knife from the table 2- put the plastic knife in the plastic glass 3- pick the plastic fork from the table 4- place the plastic fork in the plastic glass 5- pick the plastic spoons 6- place the plastic spoon in the glass 7- place the glass upright 8- pick the plastic knife from the table 9- place the plastic knife in the glass Q: immediate next step? \u003cPRED\u003eA: pick the plastic spoon\n\u003c/PRED\u003e","video":"13260915434707500707.mp4"}
+{"uid":"16541713779643784287","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please clean up the desk by placing all the utensils back into the cup. last 20 steps: 1- pick a plastic knife from the table 2- put the plastic knife in the plastic glass 3- pick the plastic fork from the table 4- place the plastic fork in the plastic glass 5- pick the plastic spoons Q: next 5 steps? \u003cPRED\u003eA: 1- put the plastic spoon and plastic fork in the plastic glass 2- place the glass upright 3- pick the plastic knife from the table 4- place the plastic knife in the glass 5- pick the plastic spoon from the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please clean up the desk by placing all the utensils back into the cup. last 20 steps: 1- pick a plastic knife from the table 2- put the plastic knife in the plastic glass 3- pick the plastic fork from the table 4- place the plastic fork in the plastic glass 5- pick the plastic spoons Q: immediate next step? \u003cPRED\u003eA: put the plastic spoon and plastic fork in the plastic glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please clean up the desk by placing all the utensils back into the cup Q: immediate next step? \u003cPRED\u003eA: put the plastic spoon and plastic fork in the plastic glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the plastic spoon and plastic fork in the plastic glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the plastic spoon and plastic fork in the plastic glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the plastic spoon and plastic fork in the plastic glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the plastic spoon and plastic fork in the plastic glass\n\u003c/PRED\u003e","video":"10920321090983447131.mp4"}
+{"uid":"9453691419764876995","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the plastic spoon\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the plastic spoon Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please clean up the desk by placing all the utensils back into the cup Q: immediate next step? \u003cPRED\u003eA: pick the plastic spoon\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please clean up the desk by placing all the utensils back into the cup. last 20 steps: 1- pick a plastic knife from the table 2- put the plastic knife in the plastic glass 3- pick the plastic fork from the table 4- place the plastic fork in the plastic glass 5- pick the plastic spoons 6- place the plastic spoon in the glass 7- place the glass upright 8- pick the plastic knife from the table 9- place the plastic knife in the glass Q: next 5 steps? \u003cPRED\u003eA: 1- pick the plastic spoon 2- put the plastic spoon in the glass 3- pick the plastic spoon from the table 4- place the plastic spoons in the glass 5- pick the plastic spoon from the floor\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please clean up the desk by placing all the utensils back into the cup. last 20 steps: 1- pick a plastic knife from the table 2- put the plastic knife in the plastic glass 3- pick the plastic fork from the table 4- place the plastic fork in the plastic glass 5- pick the plastic spoons 6- place the plastic spoon in the glass 7- place the glass upright 8- pick the plastic knife from the table 9- place the plastic knife in the glass Q: immediate next step? \u003cPRED\u003eA: pick the plastic spoon\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the plastic spoon\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the plastic spoon Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11307111393196125938.mp4"}
+{"uid":"9627630670472442282","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick the plastic glass from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick the plastic glass from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10798536205976280191.mp4"}
+{"uid":"8081548182750246809","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the plastic knife from the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please clean up the desk by placing all the utensils back into the cup Q: immediate next step? \u003cPRED\u003eA: pick the plastic knife from the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please clean up the desk by placing all the utensils back into the cup. last 20 steps: 1- pick a plastic knife from the table 2- put the plastic knife in the plastic glass 3- pick the plastic fork from the table 4- place the plastic fork in the plastic glass 5- pick the plastic spoons 6- place the plastic spoon in the glass 7- place the glass upright Q: immediate next step? \u003cPRED\u003eA: pick the plastic knife from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the plastic knife from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please clean up the desk by placing all the utensils back into the cup. last 20 steps: 1- pick a plastic knife from the table 2- put the plastic knife in the plastic glass 3- pick the plastic fork from the table 4- place the plastic fork in the plastic glass 5- pick the plastic spoons 6- place the plastic spoon in the glass 7- place the glass upright Q: next 5 steps? \u003cPRED\u003eA: 1- pick the plastic knife from the table 2- place the plastic knife in the glass 3- pick the plastic spoon from the table 4- put the plastic spoon in the glass 5- pick the plastic spoon from the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the plastic knife from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the plastic knife from the table\n\u003c/PRED\u003e","video":"5453292268854702256.mp4"}
+{"uid":"16642668429346589646","text":"\u003ctask:success:discrete:True\u003e\nput the plastic knife in the plastic glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the plastic knife in the plastic glass\n\u003c/PRED\u003e","video":"17968781264929465644.mp4"}
+{"uid":"4925159603349497475","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the papers into the recycle bin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6387958400084388945.mp4"}
+{"uid":"8973626023352840125","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please clean up the desk by placing all the utensils back into the cup Q: immediate next step? \u003cPRED\u003eA: place the plastic knife in the plastic glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the plastic knife in the plastic glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the plastic knife in the plastic glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the plastic knife in the plastic glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please clean up the desk by placing all the utensils back into the cup. last 20 steps: 1- pick a plastic knife from the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the plastic knife in the plastic glass 2- pick the plastic fork from the table 3- place the plastic fork in the plastic glass 4- pick the plastic spoons 5- place the plastic spoon in the glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the plastic knife in the plastic glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please clean up the desk by placing all the utensils back into the cup. last 20 steps: 1- pick a plastic knife from the table Q: immediate next step? \u003cPRED\u003eA: place the plastic knife in the plastic glass\n\u003c/PRED\u003e","video":"6315825917436823997.mp4"}
+{"uid":"234406640565318040","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the plastic spoon in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please clean up the desk by placing all the utensils back into the cup. last 20 steps: 1- pick a plastic knife from the table 2- put the plastic knife in the plastic glass 3- pick the plastic fork from the table 4- place the plastic fork in the plastic glass 5- pick the plastic spoons 6- place the plastic spoon in the glass 7- place the glass upright 8- pick the plastic knife from the table 9- place the plastic knife in the glass 10- pick the plastic spoon from the table Q: immediate next step? \u003cPRED\u003eA: place the plastic spoon in the glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the plastic spoon in the glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please clean up the desk by placing all the utensils back into the cup. last 20 steps: 1- pick a plastic knife from the table 2- put the plastic knife in the plastic glass 3- pick the plastic fork from the table 4- place the plastic fork in the plastic glass 5- pick the plastic spoons 6- place the plastic spoon in the glass 7- place the glass upright 8- pick the plastic knife from the table 9- place the plastic knife in the glass 10- pick the plastic spoon from the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the plastic spoon in the glass 2- pick the plastic spoon from the table 3- place the plastic spoons in the glass 4- pick the plastic spoon from the floor 5- place the spoon in the plastic glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the plastic spoon in the glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the plastic spoon in the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please clean up the desk by placing all the utensils back into the cup Q: immediate next step? \u003cPRED\u003eA: place the plastic spoon in the glass\n\u003c/PRED\u003e","video":"9988066624355453221.mp4"}
+{"uid":"8705583723466215547","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8436151149707080844.mp4"}
+{"uid":"16391853420218585799","text":"\u003ctask:success:discrete:True\u003e\npick the plastic spoon Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick the plastic spoon\n\u003c/PRED\u003e","video":"13318969739442783055.mp4"}
+{"uid":"483337080412848110","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the plastic spoon in the glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the plastic spoon in the glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please clean up the desk by placing all the utensils back into the cup. last 20 steps: 1- pick a plastic knife from the table 2- put the plastic knife in the plastic glass 3- pick the plastic fork from the table 4- place the plastic fork in the plastic glass 5- pick the plastic spoons 6- place the plastic spoon in the glass 7- place the glass upright 8- pick the plastic knife from the table 9- place the plastic knife in the glass 10- pick the plastic spoon from the table Q: next 5 steps? \u003cPRED\u003eA: 1- put the plastic spoon in the glass 2- place the plastic spoons in the glass 3- pick the plastic spoon from the floor 4- place the spoon in the plastic glass 5- pick the plastic glass from the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please clean up the desk by placing all the utensils back into the cup Q: immediate next step? \u003cPRED\u003eA: put the plastic spoon in the glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the plastic spoon in the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the plastic spoon in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please clean up the desk by placing all the utensils back into the cup. last 20 steps: 1- pick a plastic knife from the table 2- put the plastic knife in the plastic glass 3- pick the plastic fork from the table 4- place the plastic fork in the plastic glass 5- pick the plastic spoons 6- place the plastic spoon in the glass 7- place the glass upright 8- pick the plastic knife from the table 9- place the plastic knife in the glass 10- pick the plastic spoon from the table Q: immediate next step? \u003cPRED\u003eA: put the plastic spoon in the glass\n\u003c/PRED\u003e","video":"17345002281134157664.mp4"}
+{"uid":"2197605887826234679","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPush the door Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11005598824567114303.mp4"}
+{"uid":"3364283449658561542","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please clean up the desk by placing all the utensils back into the cup Q: immediate next step? \u003cPRED\u003eA: place the plastic knife in the glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the plastic knife in the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please clean up the desk by placing all the utensils back into the cup. last 20 steps: 1- pick a plastic knife from the table 2- put the plastic knife in the plastic glass 3- pick the plastic fork from the table 4- place the plastic fork in the plastic glass 5- pick the plastic spoons 6- place the plastic spoon in the glass 7- place the glass upright 8- pick the plastic knife from the table Q: immediate next step? \u003cPRED\u003eA: place the plastic knife in the glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the plastic knife in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the plastic knife in the glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please clean up the desk by placing all the utensils back into the cup. last 20 steps: 1- pick a plastic knife from the table 2- put the plastic knife in the plastic glass 3- pick the plastic fork from the table 4- place the plastic fork in the plastic glass 5- pick the plastic spoons 6- place the plastic spoon in the glass 7- place the glass upright 8- pick the plastic knife from the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the plastic knife in the glass 2- pick the plastic spoon from the table 3- put the plastic spoon in the glass 4- pick the plastic spoon from the table 5- place the plastic spoons in the glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the plastic knife in the glass\n\u003c/PRED\u003e","video":"16655124741481905291.mp4"}
+{"uid":"16224052999458906612","text":"\u003ctask:success:discrete:True\u003e\nplace the plastic fork in the plastic glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the plastic fork in the plastic glass\n\u003c/PRED\u003e","video":"11810991795575996562.mp4"}
+{"uid":"9107324202680931311","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the plastic fork in the plastic glass\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the plastic fork in the plastic glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13535466068458057323.mp4"}
+{"uid":"8764401953872379562","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the orange chocolate in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11990321606990088961.mp4"}
+{"uid":"7788339703035708343","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace heart block in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16807502282256327789.mp4"}
+{"uid":"1648579759806590238","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick a plastic knife from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick a plastic knife from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14655879728333957614.mp4"}
+{"uid":"8574882978094164670","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack the cups on top of existing stack Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3374080954716538545.mp4"}
+{"uid":"13898825107462914108","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please clean up the desk by placing all the utensils back into the cup Q: immediate next step? \u003cPRED\u003eA: place the plastic glass on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please clean up the desk by placing all the utensils back into the cup. last 20 steps: 1- pick a plastic knife from the table 2- put the plastic knife in the plastic glass 3- pick the plastic fork from the table 4- place the plastic fork in the plastic glass 5- pick the plastic spoons 6- place the plastic spoon in the glass 7- place the glass upright 8- pick the plastic knife from the table 9- place the plastic knife in the glass 10- pick the plastic spoon from the table 11- put the plastic spoon in the glass 12- pick the plastic spoon from the table 13- place the plastic spoons in the glass 14- pick the plastic spoon from the floor 15- place the spoon in the plastic glass 16- pick the plastic glass from the table Q: immediate next step? \u003cPRED\u003eA: place the plastic glass on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please clean up the desk by placing all the utensils back into the cup. last 20 steps: 1- pick a plastic knife from the table 2- put the plastic knife in the plastic glass 3- pick the plastic fork from the table 4- place the plastic fork in the plastic glass 5- pick the plastic spoons 6- place the plastic spoon in the glass 7- place the glass upright 8- pick the plastic knife from the table 9- place the plastic knife in the glass 10- pick the plastic spoon from the table 11- put the plastic spoon in the glass 12- pick the plastic spoon from the table 13- place the plastic spoons in the glass 14- pick the plastic spoon from the floor 15- place the spoon in the plastic glass 16- pick the plastic glass from the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the plastic glass on the table 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the plastic glass on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the plastic glass on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the plastic glass on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the plastic glass on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12444428910974286835.mp4"}
+{"uid":"2821178678396364194","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick the sweet corn packet Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1328314374997791800.mp4"}
+{"uid":"9773319405233742671","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the plastic fork in the plastic glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please clean up the desk by placing all the utensils back into the cup. last 20 steps: 1- pick a plastic knife from the table 2- put the plastic knife in the plastic glass 3- pick the plastic fork from the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the plastic fork in the plastic glass 2- pick the plastic spoons 3- place the plastic spoon in the glass 4- place the glass upright 5- pick the plastic knife from the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the plastic fork in the plastic glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please clean up the desk by placing all the utensils back into the cup. last 20 steps: 1- pick a plastic knife from the table 2- put the plastic knife in the plastic glass 3- pick the plastic fork from the table Q: immediate next step? \u003cPRED\u003eA: place the plastic fork in the plastic glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the plastic fork in the plastic glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please clean up the desk by placing all the utensils back into the cup Q: immediate next step? \u003cPRED\u003eA: place the plastic fork in the plastic glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the plastic fork in the plastic glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4697322734003894121.mp4"}
+{"uid":"12572547297977945293","text":"\u003ctask:success:discrete:True\u003e\nput the plastic knife and the plastic fork in the plastic glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the plastic knife and the plastic fork in the plastic glass\n\u003c/PRED\u003e","video":"7660146561807845431.mp4"}
+{"uid":"12810500232189920331","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please clean up the desk by placing all the utensils back into the cup. last 20 steps: 1- pick a plastic knife from the table 2- put the plastic knife in the plastic glass 3- pick the plastic fork from the table Q: immediate next step? \u003cPRED\u003eA: put the plastic fork in the plastic glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please clean up the desk by placing all the utensils back into the cup Q: immediate next step? \u003cPRED\u003eA: put the plastic fork in the plastic glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please clean up the desk by placing all the utensils back into the cup. last 20 steps: 1- pick a plastic knife from the table 2- put the plastic knife in the plastic glass 3- pick the plastic fork from the table Q: next 5 steps? \u003cPRED\u003eA: 1- put the plastic fork in the plastic glass 2- pick the plastic spoons 3- place the plastic spoon in the glass 4- place the glass upright 5- pick the plastic knife from the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the plastic fork in the plastic glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the plastic fork in the plastic glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the plastic fork in the plastic glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the plastic fork in the plastic glass\n\u003c/PRED\u003e","video":"2695051057088009467.mp4"}
+{"uid":"4207245253973234296","text":"\u003ctask:success:discrete:True\u003e\nput the plastic fork in the plastic glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the plastic fork in the plastic glass\n\u003c/PRED\u003e","video":"170559929047827067.mp4"}
+{"uid":"15575650632753730592","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the bowl on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7105225136713085101.mp4"}
+{"uid":"5060191519126966275","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the plastic spoons in the plastic glass\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the plastic spoons in the plastic glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13104690594538224280.mp4"}
+{"uid":"18015913311512132182","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput pink candies in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10575137612967686252.mp4"}
+{"uid":"10191499320541215696","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the black pen into the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16345497529970994519.mp4"}
+{"uid":"17865240212224530091","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the plastic spoon and plastic fork in the plastic glass\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the plastic spoon and plastic fork in the plastic glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14663043676594390175.mp4"}
+{"uid":"4442104062341617374","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please clean up the desk by placing all the utensils back into the cup. last 20 steps: 1- pick a plastic knife from the table 2- put the plastic knife in the plastic glass 3- pick the plastic fork from the table 4- place the plastic fork in the plastic glass 5- pick the plastic spoons 6- place the plastic spoon in the glass 7- place the glass upright 8- pick the plastic knife from the table 9- place the plastic knife in the glass 10- pick the plastic spoon from the table 11- put the plastic spoon in the glass 12- pick the plastic spoon from the table 13- place the plastic spoons in the glass 14- pick the plastic spoon from the floor 15- place the spoon in the plastic glass 16- pick the plastic glass from the table 17- place the plastic glass upright on the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the plastic glass upright on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the plastic glass upright on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please clean up the desk by placing all the utensils back into the cup Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please clean up the desk by placing all the utensils back into the cup. last 20 steps: 1- pick a plastic knife from the table 2- put the plastic knife in the plastic glass 3- pick the plastic fork from the table 4- place the plastic fork in the plastic glass 5- pick the plastic spoons 6- place the plastic spoon in the glass 7- place the glass upright 8- pick the plastic knife from the table 9- place the plastic knife in the glass 10- pick the plastic spoon from the table 11- put the plastic spoon in the glass 12- pick the plastic spoon from the table 13- place the plastic spoons in the glass 14- pick the plastic spoon from the floor 15- place the spoon in the plastic glass 16- pick the plastic glass from the table 17- place the plastic glass upright on the table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"6273308528145145692.mp4"}
+{"uid":"13331196005756702545","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace pistachio in cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8537576852062805860.mp4"}
+{"uid":"6043106810013923480","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\npick a plastic spoon along with a plastic fork Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick a plastic spoon along with a plastic fork Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please clean up the desk by placing all the utensils back into the cup. last 20 steps: 1- pick a plastic knife from the table 2- put the plastic knife in the plastic glass 3- pick the plastic fork from the table 4- place the plastic fork in the plastic glass Q: next 5 steps? \u003cPRED\u003eA: 1- pick a plastic spoon along with a plastic fork 2- place the glass upright 3- pick the plastic knife from the table 4- place the plastic knife in the glass 5- pick the plastic spoon from the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please clean up the desk by placing all the utensils back into the cup. last 20 steps: 1- pick a plastic knife from the table 2- put the plastic knife in the plastic glass 3- pick the plastic fork from the table 4- place the plastic fork in the plastic glass Q: immediate next step? \u003cPRED\u003eA: pick a plastic spoon along with a plastic fork\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please clean up the desk by placing all the utensils back into the cup Q: immediate next step? \u003cPRED\u003eA: pick a plastic spoon along with a plastic fork\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick a plastic spoon along with a plastic fork\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick a plastic spoon along with a plastic fork\n\u003c/PRED\u003e","video":"13969000916374272558.mp4"}
+{"uid":"1825438317968172612","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the glass upright\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the glass upright Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15982468071226126004.mp4"}
+{"uid":"4470426515159267310","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up the cardboard box from the floor Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6836055183544511289.mp4"}
+{"uid":"11729972050259132927","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the bean into the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"922504838808223429.mp4"}
+{"uid":"11277279760989084927","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please clean up the desk by placing all the utensils back into the cup Q: immediate next step? \u003cPRED\u003eA: pick the plastic spoon from the floor\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the plastic spoon from the floor Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the plastic spoon from the floor\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please clean up the desk by placing all the utensils back into the cup. last 20 steps: 1- pick a plastic knife from the table 2- put the plastic knife in the plastic glass 3- pick the plastic fork from the table 4- place the plastic fork in the plastic glass 5- pick the plastic spoons 6- place the plastic spoon in the glass 7- place the glass upright 8- pick the plastic knife from the table 9- place the plastic knife in the glass 10- pick the plastic spoon from the table 11- put the plastic spoon in the glass 12- pick the plastic spoon from the table 13- place the plastic spoons in the glass Q: next 5 steps? \u003cPRED\u003eA: 1- pick the plastic spoon from the floor 2- place the spoon in the plastic glass 3- pick the plastic glass from the table 4- place the plastic glass on the table 5- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the plastic spoon from the floor\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the plastic spoon from the floor Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please clean up the desk by placing all the utensils back into the cup. last 20 steps: 1- pick a plastic knife from the table 2- put the plastic knife in the plastic glass 3- pick the plastic fork from the table 4- place the plastic fork in the plastic glass 5- pick the plastic spoons 6- place the plastic spoon in the glass 7- place the glass upright 8- pick the plastic knife from the table 9- place the plastic knife in the glass 10- pick the plastic spoon from the table 11- put the plastic spoon in the glass 12- pick the plastic spoon from the table 13- place the plastic spoons in the glass Q: immediate next step? \u003cPRED\u003eA: pick the plastic spoon from the floor\n\u003c/PRED\u003e","video":"10953028943447309718.mp4"}
+{"uid":"2598962365646126581","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove your arm back Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12864530982450875617.mp4"}
+{"uid":"10307647236518232436","text":"\u003ctask:success:discrete:True\u003e\npick the plastic spoon from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick the plastic spoon from the table\n\u003c/PRED\u003e","video":"17487102359736095840.mp4"}
+{"uid":"15005360742875279310","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick the plastic knife from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick the plastic knife from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13752176237557375439.mp4"}
+{"uid":"12533461507953089771","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the green candy in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2539396821052198546.mp4"}
+{"uid":"13447620099726235791","text":"\u003ctask:success:discrete:False\u003e\nplace the plastic knife in the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the plastic knife in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the plastic knife in the glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please clean up the desk by placing all the utensils back into the cup. last 20 steps: 1- pick a plastic knife from the table 2- put the plastic knife in the plastic glass 3- pick the plastic fork from the table 4- place the plastic fork in the plastic glass 5- pick the plastic spoons 6- place the plastic spoon in the glass 7- place the glass upright 8- pick the plastic knife from the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the plastic knife in the glass 2- put the plastic spoon in the glass 3- pick the plastic spoon from the table 4- place the plastic spoons in the glass 5- pick the plastic spoon from the floor\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please clean up the desk by placing all the utensils back into the cup. last 20 steps: 1- pick a plastic knife from the table 2- put the plastic knife in the plastic glass 3- pick the plastic fork from the table 4- place the plastic fork in the plastic glass 5- pick the plastic spoons 6- place the plastic spoon in the glass 7- place the glass upright 8- pick the plastic knife from the table Q: immediate next step? \u003cPRED\u003eA: place the plastic knife in the glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the plastic knife in the glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please clean up the desk by placing all the utensils back into the cup Q: immediate next step? \u003cPRED\u003eA: place the plastic knife in the glass\n\u003c/PRED\u003e","video":"13108427620967251999.mp4"}
+{"uid":"15442460602315608544","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the glass upright\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the glass upright Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18289093547219969032.mp4"}
+{"uid":"16389442779125804879","text":"\u003ctask:success:discrete:True\u003e\nplace the plastic spoon in the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the plastic spoon in the glass\n\u003c/PRED\u003e","video":"4163664915983111873.mp4"}
+{"uid":"52406814637106087","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick the plastic knife from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick the plastic knife from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10766053780544403716.mp4"}
+{"uid":"4612742057575715731","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the green packet in the box tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11801926032999640920.mp4"}
+{"uid":"9312572068992123332","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the pistachios in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15872104509120355173.mp4"}
+{"uid":"2535280281976461213","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the plastic knife in the plastic glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please clean up the desk by placing all the utensils back into the cup. last 20 steps: 1- pick a plastic knife from the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the plastic knife in the plastic glass 2- pick the plastic fork from the table 3- place the plastic fork in the plastic glass 4- pick the plastic spoons 5- place the plastic spoon in the glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please clean up the desk by placing all the utensils back into the cup Q: immediate next step? \u003cPRED\u003eA: place the plastic knife in the plastic glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the plastic knife in the plastic glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the plastic knife in the plastic glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the plastic knife in the plastic glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please clean up the desk by placing all the utensils back into the cup. last 20 steps: 1- pick a plastic knife from the table Q: immediate next step? \u003cPRED\u003eA: place the plastic knife in the plastic glass\n\u003c/PRED\u003e","video":"15718686039997005495.mp4"}
+{"uid":"3547879679165326431","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the plastic knife in the glass\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the plastic knife in the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15523298360546938795.mp4"}
+{"uid":"7917450080895231983","text":"\u003ctask:success:discrete:True\u003e\npick the plastic spoons from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick the plastic spoons from the table\n\u003c/PRED\u003e","video":"4214107735884227200.mp4"}
+{"uid":"9513229517920263948","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput red coke can in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13524638369965775836.mp4"}
+{"uid":"391888642400360403","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please clean up the desk by placing all the utensils back into the cup. last 20 steps: 1- pick a plastic knife from the table 2- put the plastic knife in the plastic glass Q: immediate next step? \u003cPRED\u003eA: pick a plastic fork from the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please clean up the desk by placing all the utensils back into the cup. last 20 steps: 1- pick a plastic knife from the table 2- put the plastic knife in the plastic glass Q: next 5 steps? \u003cPRED\u003eA: 1- pick a plastic fork from the table 2- place the plastic fork in the plastic glass 3- pick the plastic spoons 4- place the plastic spoon in the glass 5- place the glass upright\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick a plastic fork from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick a plastic fork from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick a plastic fork from the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please clean up the desk by placing all the utensils back into the cup Q: immediate next step? \u003cPRED\u003eA: pick a plastic fork from the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick a plastic fork from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4426599765295533206.mp4"}
+{"uid":"6866500370199926228","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up the cap from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8035633239577626036.mp4"}
+{"uid":"14461494266442465370","text":"\u003ctask:success:discrete:False\u003e\nplace the glass upright Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please clean up the desk by placing all the utensils back into the cup Q: immediate next step? \u003cPRED\u003eA: place the glass upright\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please clean up the desk by placing all the utensils back into the cup. last 20 steps: 1- pick a plastic knife from the table 2- put the plastic knife in the plastic glass 3- pick the plastic fork from the table 4- place the plastic fork in the plastic glass 5- pick the plastic spoons 6- place the plastic spoon in the glass Q: immediate next step? \u003cPRED\u003eA: place the glass upright\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please clean up the desk by placing all the utensils back into the cup. last 20 steps: 1- pick a plastic knife from the table 2- put the plastic knife in the plastic glass 3- pick the plastic fork from the table 4- place the plastic fork in the plastic glass 5- pick the plastic spoons 6- place the plastic spoon in the glass Q: next 5 steps? \u003cPRED\u003eA: 1- place the glass upright 2- pick the plastic knife from the table 3- place the plastic knife in the glass 4- pick the plastic spoon from the table 5- put the plastic spoon in the glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the glass upright Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the glass upright\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the glass upright\n\u003c/PRED\u003e","video":"3508343252137192049.mp4"}
+{"uid":"16919786163097723994","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nExit the room Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16757817761360081429.mp4"}
+{"uid":"788743705747584502","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nFill the water in the bottle Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"488757080871773036.mp4"}
+{"uid":"1528766705629526302","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack the coffee cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17978590119873799145.mp4"}
+{"uid":"11817668481185763609","text":"\u003ctask:success:discrete:True\u003e\nPick up the brush Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Pick up the brush\n\u003c/PRED\u003e","video":"3968229112711928317.mp4"}
+{"uid":"1359070312746727964","text":"\u003ctask:success:discrete:True\u003e\npick up the brush Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up the brush\n\u003c/PRED\u003e","video":"10944407804064882356.mp4"}
+{"uid":"8982604325529449847","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Drop the green plastic glass in the green tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. last 20 steps: 1- Move back from the green tray 2- Move towards the objects on the floor 3- move towards the duster on the floor. 4- move to the green object 5- pick up the green object 6- drop the green object in the green tray. 7- move away from the green tray. 8- move towards the brush on the floor. 9- pick up the duster from the floor. 10- Place the duster into the tray 11- Move away from the tray 12- Move to the brush on the floor 13- Pick the brush from the floor 14- put the brush into the tray 15- Go away from the tray 16- move towards the green glass on the floor. 17- pick up the green glass from the floor. 18- Drop the green plastic glass in the green tray Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. last 20 steps: 1- Move back from the green tray 2- Move towards the objects on the floor 3- move towards the duster on the floor. 4- move to the green object 5- pick up the green object 6- drop the green object in the green tray. 7- move away from the green tray. 8- move towards the brush on the floor. 9- pick up the duster from the floor. 10- Place the duster into the tray 11- Move away from the tray 12- Move to the brush on the floor 13- Pick the brush from the floor 14- put the brush into the tray 15- Go away from the tray 16- move towards the green glass on the floor. 17- pick up the green glass from the floor. 18- Drop the green plastic glass in the green tray Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nDrop the green plastic glass in the green tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"1630269261034533609.mp4"}
+{"uid":"14672969103298024355","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. last 20 steps: 1- Move back from the green tray 2- Move towards the objects on the floor 3- move towards the duster on the floor. 4- move to the green object 5- pick up the green object Q: next 5 steps? \u003cPRED\u003eA: 1- put the cucumber into the tray 2- move away from the green tray. 3- move towards the brush on the floor. 4- pick up the duster from the floor. 5- Place the duster into the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the cucumber into the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the cucumber into the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. Q: immediate next step? \u003cPRED\u003eA: put the cucumber into the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the cucumber into the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the cucumber into the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. last 20 steps: 1- Move back from the green tray 2- Move towards the objects on the floor 3- move towards the duster on the floor. 4- move to the green object 5- pick up the green object Q: immediate next step? \u003cPRED\u003eA: put the cucumber into the tray\n\u003c/PRED\u003e","video":"2617616720863788191.mp4"}
+{"uid":"7520485991727259046","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Go to the duster on the floor\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nGo to the duster on the floor Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17970980759879899280.mp4"}
+{"uid":"14746582847567384008","text":"\u003ctask:success:discrete:True\u003e\npick up the duster Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up the duster\n\u003c/PRED\u003e","video":"5720592226277923431.mp4"}
+{"uid":"13115095004295806224","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Grasp the duster on the floor\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nGrasp the duster on the floor Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15238383995190030233.mp4"}
+{"uid":"881151697163715787","text":"\u003ctask:success:discrete:False\u003e\nMove the duster upwards Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove the duster upwards Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. Q: immediate next step? \u003cPRED\u003eA: Move the duster upwards\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move the duster upwards\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. last 20 steps: 1- Move back from the green tray 2- Move towards the objects on the floor 3- move towards the duster on the floor. 4- move to the green object 5- pick up the green object 6- drop the green object in the green tray. 7- move away from the green tray. 8- move towards the brush on the floor. Q: next 5 steps? \u003cPRED\u003eA: 1- Move the duster upwards 2- Move away from the tray 3- Move to the brush on the floor 4- Pick the brush from the floor 5- put the brush into the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. last 20 steps: 1- Move back from the green tray 2- Move towards the objects on the floor 3- move towards the duster on the floor. 4- move to the green object 5- pick up the green object 6- drop the green object in the green tray. 7- move away from the green tray. 8- move towards the brush on the floor. Q: immediate next step? \u003cPRED\u003eA: Move the duster upwards\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move the duster upwards\n\u003c/PRED\u003e","video":"12796881998409716900.mp4"}
+{"uid":"16717717055807031069","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the white packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7806574807703469070.mp4"}
+{"uid":"17976531362127051348","text":"\u003ctask:success:discrete:True\u003e\nDrop the brush in the green tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Drop the brush in the green tray\n\u003c/PRED\u003e","video":"9245830181830537332.mp4"}
+{"uid":"5142169357923037848","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the paper cup on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5768308917564377424.mp4"}
+{"uid":"12374944502569041180","text":"\u003ctask:success:discrete:True\u003e\npick up the duster from the floor. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up the duster from the floor.\n\u003c/PRED\u003e","video":"12200864965547048169.mp4"}
+{"uid":"12531708203903103607","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. last 20 steps: 1- Move back from the green tray 2- Move towards the objects on the floor 3- move towards the duster on the floor. 4- move to the green object 5- pick up the green object 6- drop the green object in the green tray. 7- move away from the green tray. 8- move towards the brush on the floor. 9- pick up the duster from the floor. Q: next 5 steps? \u003cPRED\u003eA: 1- Move towards the green tray on the table 2- Move away from the tray 3- Move to the brush on the floor 4- Pick the brush from the floor 5- put the brush into the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. Q: immediate next step? \u003cPRED\u003eA: Move towards the green tray on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove towards the green tray on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. last 20 steps: 1- Move back from the green tray 2- Move towards the objects on the floor 3- move towards the duster on the floor. 4- move to the green object 5- pick up the green object 6- drop the green object in the green tray. 7- move away from the green tray. 8- move towards the brush on the floor. 9- pick up the duster from the floor. Q: immediate next step? \u003cPRED\u003eA: Move towards the green tray on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move towards the green tray on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove towards the green tray on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move towards the green tray on the table\n\u003c/PRED\u003e","video":"17214454664966813216.mp4"}
+{"uid":"13245225594506152285","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: go closer to the green object.\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ngo closer to the green object. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13984437080821807798.mp4"}
+{"uid":"3952803871237402524","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9079520051474952715.mp4"}
+{"uid":"16524706433208929004","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Go to the duster on the floor\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Go to the duster on the floor\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nGo to the duster on the floor Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. last 20 steps: 1- Move back from the green tray 2- Move towards the objects on the floor 3- move towards the duster on the floor. 4- move to the green object 5- pick up the green object 6- drop the green object in the green tray. 7- move away from the green tray. Q: immediate next step? \u003cPRED\u003eA: Go to the duster on the floor\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. Q: immediate next step? \u003cPRED\u003eA: Go to the duster on the floor\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. last 20 steps: 1- Move back from the green tray 2- Move towards the objects on the floor 3- move towards the duster on the floor. 4- move to the green object 5- pick up the green object 6- drop the green object in the green tray. 7- move away from the green tray. Q: next 5 steps? \u003cPRED\u003eA: 1- Go to the duster on the floor 2- Place the duster into the tray 3- Move away from the tray 4- Move to the brush on the floor 5- Pick the brush from the floor\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nGo to the duster on the floor Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1652138428602462663.mp4"}
+{"uid":"15405517596898518340","text":"\u003ctask:success:discrete:False\u003e\nmove towards the brush on the floor. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. last 20 steps: 1- Move back from the green tray 2- Move towards the objects on the floor 3- move towards the duster on the floor. 4- move to the green object 5- pick up the green object 6- drop the green object in the green tray. 7- move away from the green tray. Q: next 5 steps? \u003cPRED\u003eA: 1- move towards the brush on the floor. 2- Place the duster into the tray 3- Move away from the tray 4- Move to the brush on the floor 5- Pick the brush from the floor\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move towards the brush on the floor.\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. last 20 steps: 1- Move back from the green tray 2- Move towards the objects on the floor 3- move towards the duster on the floor. 4- move to the green object 5- pick up the green object 6- drop the green object in the green tray. 7- move away from the green tray. Q: immediate next step? \u003cPRED\u003eA: move towards the brush on the floor.\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. Q: immediate next step? \u003cPRED\u003eA: move towards the brush on the floor.\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove towards the brush on the floor. Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move towards the brush on the floor.\n\u003c/PRED\u003e","video":"15099466443627136973.mp4"}
+{"uid":"18275488835792433299","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nGo to the marker on the floor Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Go to the marker on the floor\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Go to the marker on the floor\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nGo to the marker on the floor Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. last 20 steps: 1- Move back from the green tray 2- Move towards the objects on the floor 3- move towards the duster on the floor. Q: next 5 steps? \u003cPRED\u003eA: 1- Go to the marker on the floor 2- drop the green object in the green tray. 3- move away from the green tray. 4- move towards the brush on the floor. 5- pick up the duster from the floor.\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. Q: immediate next step? \u003cPRED\u003eA: Go to the marker on the floor\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. last 20 steps: 1- Move back from the green tray 2- Move towards the objects on the floor 3- move towards the duster on the floor. Q: immediate next step? \u003cPRED\u003eA: Go to the marker on the floor\n\u003c/PRED\u003e","video":"3505688877527479636.mp4"}
+{"uid":"16377817799680306126","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the packets in the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11223924432389435005.mp4"}
+{"uid":"397329339402524111","text":"\u003ctask:success:discrete:False\u003e\nMove to the brush on the floor Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. Q: immediate next step? \u003cPRED\u003eA: Move to the brush on the floor\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move to the brush on the floor\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove to the brush on the floor Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. last 20 steps: 1- Move back from the green tray 2- Move towards the objects on the floor 3- move towards the duster on the floor. 4- move to the green object 5- pick up the green object 6- drop the green object in the green tray. 7- move away from the green tray. 8- move towards the brush on the floor. 9- pick up the duster from the floor. 10- Place the duster into the tray 11- Move away from the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Move to the brush on the floor 2- Pick the brush from the floor 3- put the brush into the tray 4- Go away from the tray 5- move towards the green glass on the floor.\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move to the brush on the floor\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. last 20 steps: 1- Move back from the green tray 2- Move towards the objects on the floor 3- move towards the duster on the floor. 4- move to the green object 5- pick up the green object 6- drop the green object in the green tray. 7- move away from the green tray. 8- move towards the brush on the floor. 9- pick up the duster from the floor. 10- Place the duster into the tray 11- Move away from the tray Q: immediate next step? \u003cPRED\u003eA: Move to the brush on the floor\n\u003c/PRED\u003e","video":"1171281303187806044.mp4"}
+{"uid":"9743141935362656222","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Go to the brush\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nGo to the brush Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. last 20 steps: 1- Move back from the green tray 2- Move towards the objects on the floor 3- move towards the duster on the floor. 4- move to the green object 5- pick up the green object 6- drop the green object in the green tray. 7- move away from the green tray. 8- move towards the brush on the floor. 9- pick up the duster from the floor. 10- Place the duster into the tray 11- Move away from the tray Q: immediate next step? \u003cPRED\u003eA: Go to the brush\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nGo to the brush Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. Q: immediate next step? \u003cPRED\u003eA: Go to the brush\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. last 20 steps: 1- Move back from the green tray 2- Move towards the objects on the floor 3- move towards the duster on the floor. 4- move to the green object 5- pick up the green object 6- drop the green object in the green tray. 7- move away from the green tray. 8- move towards the brush on the floor. 9- pick up the duster from the floor. 10- Place the duster into the tray 11- Move away from the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Go to the brush 2- Pick the brush from the floor 3- put the brush into the tray 4- Go away from the tray 5- move towards the green glass on the floor.\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Go to the brush\n\u003c/PRED\u003e","video":"16817146799807761666.mp4"}
+{"uid":"14647348162000420256","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop the  left white object on the floor Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18084098175885790193.mp4"}
+{"uid":"17794693143779431597","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the orange packet in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13400355242005526354.mp4"}
+{"uid":"8504483905979274437","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace pistachio in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18214365823260854662.mp4"}
+{"uid":"3997328050602201567","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2939156617210507996.mp4"}
+{"uid":"16837604380680377194","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the brush into the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. last 20 steps: 1- Move back from the green tray 2- Move towards the objects on the floor 3- move towards the duster on the floor. 4- move to the green object 5- pick up the green object 6- drop the green object in the green tray. 7- move away from the green tray. 8- move towards the brush on the floor. 9- pick up the duster from the floor. 10- Place the duster into the tray 11- Move away from the tray 12- Move to the brush on the floor 13- Pick the brush from the floor Q: immediate next step? \u003cPRED\u003eA: put the brush into the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. Q: immediate next step? \u003cPRED\u003eA: put the brush into the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the brush into the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. last 20 steps: 1- Move back from the green tray 2- Move towards the objects on the floor 3- move towards the duster on the floor. 4- move to the green object 5- pick up the green object 6- drop the green object in the green tray. 7- move away from the green tray. 8- move towards the brush on the floor. 9- pick up the duster from the floor. 10- Place the duster into the tray 11- Move away from the tray 12- Move to the brush on the floor 13- Pick the brush from the floor Q: next 5 steps? \u003cPRED\u003eA: 1- put the brush into the tray 2- Go away from the tray 3- move towards the green glass on the floor. 4- pick up the green glass from the floor. 5- Place the green cup in the green tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the brush into the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the brush into the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14771285929602598560.mp4"}
+{"uid":"6185395207397132413","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move away from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove away from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move away from the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. last 20 steps: 1- Move back from the green tray 2- Move towards the objects on the floor 3- move towards the duster on the floor. 4- move to the green object 5- pick up the green object 6- drop the green object in the green tray. 7- move away from the green tray. 8- move towards the brush on the floor. 9- pick up the duster from the floor. 10- Place the duster into the tray 11- Move away from the tray 12- Move to the brush on the floor 13- Pick the brush from the floor 14- put the brush into the tray Q: next 5 steps? \u003cPRED\u003eA: 1- move away from the table 2- move towards the green glass on the floor. 3- pick up the green glass from the floor. 4- Place the green cup in the green tray 5- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. last 20 steps: 1- Move back from the green tray 2- Move towards the objects on the floor 3- move towards the duster on the floor. 4- move to the green object 5- pick up the green object 6- drop the green object in the green tray. 7- move away from the green tray. 8- move towards the brush on the floor. 9- pick up the duster from the floor. 10- Place the duster into the tray 11- Move away from the tray 12- Move to the brush on the floor 13- Pick the brush from the floor 14- put the brush into the tray Q: immediate next step? \u003cPRED\u003eA: move away from the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove away from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. Q: immediate next step? \u003cPRED\u003eA: move away from the table\n\u003c/PRED\u003e","video":"16495713707322965820.mp4"}
+{"uid":"11029539648175413695","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. last 20 steps: 1- Move back from the green tray 2- Move towards the objects on the floor Q: next 5 steps? \u003cPRED\u003eA: 1- Move to the floor 2- pick up the green object 3- drop the green object in the green tray. 4- move away from the green tray. 5- move towards the brush on the floor.\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove to the floor Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move to the floor\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. Q: immediate next step? \u003cPRED\u003eA: Move to the floor\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move to the floor\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. last 20 steps: 1- Move back from the green tray 2- Move towards the objects on the floor Q: immediate next step? \u003cPRED\u003eA: Move to the floor\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove to the floor Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13932687478771028615.mp4"}
+{"uid":"1523451523266616493","text":"\u003ctask:success:discrete:True\u003e\nPut the duster in the green tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the duster in the green tray\n\u003c/PRED\u003e","video":"17336074046416181220.mp4"}
+{"uid":"12001737616296573534","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npickup the can from the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14717003766994329995.mp4"}
+{"uid":"284377317486516701","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Move down to the brush on the floor\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nMove down to the brush on the floor Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17481305385744669662.mp4"}
+{"uid":"653421190451404123","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. Q: immediate next step? \u003cPRED\u003eA: Go away from the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nGo away from the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. last 20 steps: 1- Move back from the green tray 2- Move towards the objects on the floor 3- move towards the duster on the floor. 4- move to the green object 5- pick up the green object 6- drop the green object in the green tray. 7- move away from the green tray. 8- move towards the brush on the floor. 9- pick up the duster from the floor. 10- Place the duster into the tray 11- Move away from the tray 12- Move to the brush on the floor 13- Pick the brush from the floor 14- put the brush into the tray Q: immediate next step? \u003cPRED\u003eA: Go away from the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nGo away from the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Go away from the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. last 20 steps: 1- Move back from the green tray 2- Move towards the objects on the floor 3- move towards the duster on the floor. 4- move to the green object 5- pick up the green object 6- drop the green object in the green tray. 7- move away from the green tray. 8- move towards the brush on the floor. 9- pick up the duster from the floor. 10- Place the duster into the tray 11- Move away from the tray 12- Move to the brush on the floor 13- Pick the brush from the floor 14- put the brush into the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Go away from the tray 2- pick up the green glass from the floor. 3- Place the green cup in the green tray 4- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Go away from the tray\n\u003c/PRED\u003e","video":"6972921657682909835.mp4"}
+{"uid":"14367726876483940105","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the duster into the green tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the duster into the green tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. Q: immediate next step? \u003cPRED\u003eA: Place the duster into the green tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the duster into the green tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. last 20 steps: 1- Move back from the green tray 2- Move towards the objects on the floor 3- move towards the duster on the floor. 4- move to the green object 5- pick up the green object 6- drop the green object in the green tray. 7- move away from the green tray. 8- move towards the brush on the floor. 9- pick up the duster from the floor. Q: next 5 steps? \u003cPRED\u003eA: 1- Place the duster into the green tray 2- Move away from the tray 3- Move to the brush on the floor 4- Pick the brush from the floor 5- put the brush into the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the duster into the green tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. last 20 steps: 1- Move back from the green tray 2- Move towards the objects on the floor 3- move towards the duster on the floor. 4- move to the green object 5- pick up the green object 6- drop the green object in the green tray. 7- move away from the green tray. 8- move towards the brush on the floor. 9- pick up the duster from the floor. Q: immediate next step? \u003cPRED\u003eA: Place the duster into the green tray\n\u003c/PRED\u003e","video":"12341193772822545201.mp4"}
+{"uid":"6983483509951800647","text":"\u003ctask:success:discrete:True\u003e\nGo to the brush Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Go to the brush\n\u003c/PRED\u003e","video":"5948090394078040159.mp4"}
+{"uid":"12430661625292681462","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace blue white marker in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5392722923379203934.mp4"}
+{"uid":"16761147093552704378","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7371236484193835545.mp4"}
+{"uid":"10570013332073072408","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Go to the marker on the floor\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nGo to the marker on the floor Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3329415256745924241.mp4"}
+{"uid":"2233255452703581116","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the green object\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. last 20 steps: 1- Move back from the green tray 2- Move towards the objects on the floor 3- move towards the duster on the floor. 4- move to the green object Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the green object 2- drop the green object in the green tray. 3- move away from the green tray. 4- move towards the brush on the floor. 5- pick up the duster from the floor.\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the green object\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the green object Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. Q: immediate next step? \u003cPRED\u003eA: pick up the green object\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. last 20 steps: 1- Move back from the green tray 2- Move towards the objects on the floor 3- move towards the duster on the floor. 4- move to the green object Q: immediate next step? \u003cPRED\u003eA: pick up the green object\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the green object Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5093587134969301927.mp4"}
+{"uid":"3576235148566215024","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. last 20 steps: 1- Move back from the green tray 2- Move towards the objects on the floor 3- move towards the duster on the floor. 4- move to the green object 5- pick up the green object 6- drop the green object in the green tray. 7- move away from the green tray. 8- move towards the brush on the floor. 9- pick up the duster from the floor. 10- Place the duster into the tray 11- Move away from the tray Q: next 5 steps? \u003cPRED\u003eA: 1- move towards the brush 2- put the brush into the tray 3- Go away from the tray 4- move towards the green glass on the floor. 5- pick up the green glass from the floor.\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. last 20 steps: 1- Move back from the green tray 2- Move towards the objects on the floor 3- move towards the duster on the floor. 4- move to the green object 5- pick up the green object 6- drop the green object in the green tray. 7- move away from the green tray. 8- move towards the brush on the floor. 9- pick up the duster from the floor. 10- Place the duster into the tray 11- Move away from the tray Q: immediate next step? \u003cPRED\u003eA: move towards the brush\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. Q: immediate next step? \u003cPRED\u003eA: move towards the brush\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove towards the brush Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move towards the brush\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove towards the brush Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move towards the brush\n\u003c/PRED\u003e","video":"16186571303974697129.mp4"}
+{"uid":"7755065330528499527","text":"\u003ctask:success:discrete:True\u003e\nMove down to the green glass on the floor Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Move down to the green glass on the floor\n\u003c/PRED\u003e","video":"13985658608319167671.mp4"}
+{"uid":"4253950451718541670","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the brush in the green tray.\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. Q: immediate next step? \u003cPRED\u003eA: drop the brush in the green tray.\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the brush in the green tray. Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the brush in the green tray.\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the brush in the green tray. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. last 20 steps: 1- Move back from the green tray 2- Move towards the objects on the floor 3- move towards the duster on the floor. 4- move to the green object 5- pick up the green object 6- drop the green object in the green tray. 7- move away from the green tray. 8- move towards the brush on the floor. 9- pick up the duster from the floor. 10- Place the duster into the tray 11- Move away from the tray 12- Move to the brush on the floor 13- Pick the brush from the floor Q: immediate next step? \u003cPRED\u003eA: drop the brush in the green tray.\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. last 20 steps: 1- Move back from the green tray 2- Move towards the objects on the floor 3- move towards the duster on the floor. 4- move to the green object 5- pick up the green object 6- drop the green object in the green tray. 7- move away from the green tray. 8- move towards the brush on the floor. 9- pick up the duster from the floor. 10- Place the duster into the tray 11- Move away from the tray 12- Move to the brush on the floor 13- Pick the brush from the floor Q: next 5 steps? \u003cPRED\u003eA: 1- drop the brush in the green tray. 2- move towards the green glass on the floor. 3- pick up the green glass from the floor. 4- Place the green cup in the green tray 5- done\n\u003c/PRED\u003e","video":"5087864227727432910.mp4"}
+{"uid":"7308222970548752273","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move towards the brush\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nmove towards the brush Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13287635778390942445.mp4"}
+{"uid":"5358753661038565936","text":"\u003ctask:success:discrete:True\u003e\nMove to the items on the floor Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Move to the items on the floor\n\u003c/PRED\u003e","video":"16254167872736399250.mp4"}
+{"uid":"12623597119050701486","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the green glass in the green tray.\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop the green glass in the green tray. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. last 20 steps: 1- Move back from the green tray 2- Move towards the objects on the floor 3- move towards the duster on the floor. 4- move to the green object 5- pick up the green object 6- drop the green object in the green tray. 7- move away from the green tray. 8- move towards the brush on the floor. 9- pick up the duster from the floor. 10- Place the duster into the tray 11- Move away from the tray 12- Move to the brush on the floor 13- Pick the brush from the floor 14- put the brush into the tray 15- Go away from the tray 16- move towards the green glass on the floor. 17- drop the green glass in the green tray. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. last 20 steps: 1- Move back from the green tray 2- Move towards the objects on the floor 3- move towards the duster on the floor. 4- move to the green object 5- pick up the green object 6- drop the green object in the green tray. 7- move away from the green tray. 8- move towards the brush on the floor. 9- pick up the duster from the floor. 10- Place the duster into the tray 11- Move away from the tray 12- Move to the brush on the floor 13- Pick the brush from the floor 14- put the brush into the tray 15- Go away from the tray 16- move towards the green glass on the floor. 17- drop the green glass in the green tray. Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"10247388456668210902.mp4"}
+{"uid":"16502800491049896221","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nadjust the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9796255870894240012.mp4"}
+{"uid":"3957680298586167305","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput candy on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16104032073589363749.mp4"}
+{"uid":"9090045057715520323","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. Q: immediate next step? \u003cPRED\u003eA: Pick up the green glass from the floor\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the green glass from the floor\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. last 20 steps: 1- Move back from the green tray 2- Move towards the objects on the floor 3- move towards the duster on the floor. 4- move to the green object 5- pick up the green object 6- drop the green object in the green tray. 7- move away from the green tray. 8- move towards the brush on the floor. 9- pick up the duster from the floor. 10- Place the duster into the tray 11- Move away from the tray 12- Move to the brush on the floor 13- Pick the brush from the floor 14- put the brush into the tray 15- Go away from the tray 16- move towards the green glass on the floor. Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the green glass from the floor 2- Place the green cup in the green tray 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the green glass from the floor Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the green glass from the floor\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the green glass from the floor Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. last 20 steps: 1- Move back from the green tray 2- Move towards the objects on the floor 3- move towards the duster on the floor. 4- move to the green object 5- pick up the green object 6- drop the green object in the green tray. 7- move away from the green tray. 8- move towards the brush on the floor. 9- pick up the duster from the floor. 10- Place the duster into the tray 11- Move away from the tray 12- Move to the brush on the floor 13- Pick the brush from the floor 14- put the brush into the tray 15- Go away from the tray 16- move towards the green glass on the floor. Q: immediate next step? \u003cPRED\u003eA: Pick up the green glass from the floor\n\u003c/PRED\u003e","video":"12226754612583567604.mp4"}
+{"uid":"8665028551261723345","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the green object in the green tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the green object in the green tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17580644400817244588.mp4"}
+{"uid":"4037310868025907945","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the light green packet in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10685291711582256337.mp4"}
+{"uid":"14711326267797410293","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the packet into the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12778379360598602433.mp4"}
+{"uid":"7257077333126364918","text":"\u003ctask:success:discrete:False\u003e\nTurn to the wall Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. Q: immediate next step? \u003cPRED\u003eA: Turn to the wall\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Turn to the wall\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. last 20 steps: 1- Move back from the green tray 2- Move towards the objects on the floor 3- move towards the duster on the floor. 4- move to the green object 5- pick up the green object 6- drop the green object in the green tray. Q: next 5 steps? \u003cPRED\u003eA: 1- Turn to the wall 2- move towards the brush on the floor. 3- pick up the duster from the floor. 4- Place the duster into the tray 5- Move away from the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Turn to the wall\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nTurn to the wall Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. last 20 steps: 1- Move back from the green tray 2- Move towards the objects on the floor 3- move towards the duster on the floor. 4- move to the green object 5- pick up the green object 6- drop the green object in the green tray. Q: immediate next step? \u003cPRED\u003eA: Turn to the wall\n\u003c/PRED\u003e","video":"10856438392542036012.mp4"}
+{"uid":"15913873457507323338","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nmove towards the duster on the floor. Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. Q: immediate next step? \u003cPRED\u003eA: move towards the duster on the floor.\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove towards the duster on the floor. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. last 20 steps: 1- Move back from the green tray 2- Move towards the objects on the floor Q: immediate next step? \u003cPRED\u003eA: move towards the duster on the floor.\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. last 20 steps: 1- Move back from the green tray 2- Move towards the objects on the floor Q: next 5 steps? \u003cPRED\u003eA: 1- move towards the duster on the floor. 2- move to the green object 3- pick up the green object 4- drop the green object in the green tray. 5- move away from the green tray.\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move towards the duster on the floor.\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move towards the duster on the floor.\n\u003c/PRED\u003e","video":"17883645614033720661.mp4"}
+{"uid":"16071947781927621041","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the sugar candy in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10411530642801523979.mp4"}
+{"uid":"10448289756930491297","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. last 20 steps: 1- Move back from the green tray 2- Move towards the objects on the floor 3- move towards the duster on the floor. Q: immediate next step? \u003cPRED\u003eA: move to the green object\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. last 20 steps: 1- Move back from the green tray 2- Move towards the objects on the floor 3- move towards the duster on the floor. Q: next 5 steps? \u003cPRED\u003eA: 1- move to the green object 2- pick up the green object 3- drop the green object in the green tray. 4- move away from the green tray. 5- move towards the brush on the floor.\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move to the green object\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove to the green object Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove to the green object Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move to the green object\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. Q: immediate next step? \u003cPRED\u003eA: move to the green object\n\u003c/PRED\u003e","video":"13146438919482990031.mp4"}
+{"uid":"9324168103848469499","text":"\u003ctask:success:discrete:True\u003e\nMove to the duster Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Move to the duster\n\u003c/PRED\u003e","video":"18126224883644068654.mp4"}
+{"uid":"13961088203419005038","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the green packet in the box tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18381649788287784431.mp4"}
+{"uid":"8655903333573060352","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. last 20 steps: 1- Move back from the green tray 2- Move towards the objects on the floor 3- move towards the duster on the floor. 4- move to the green object 5- pick up the green object 6- drop the green object in the green tray. 7- move away from the green tray. 8- move towards the brush on the floor. Q: next 5 steps? \u003cPRED\u003eA: 1- place the duster in the green tray. 2- Move to the brush on the floor 3- Pick the brush from the floor 4- put the brush into the tray 5- Go away from the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. Q: immediate next step? \u003cPRED\u003eA: place the duster in the green tray.\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the duster in the green tray. Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. last 20 steps: 1- Move back from the green tray 2- Move towards the objects on the floor 3- move towards the duster on the floor. 4- move to the green object 5- pick up the green object 6- drop the green object in the green tray. 7- move away from the green tray. 8- move towards the brush on the floor. Q: immediate next step? \u003cPRED\u003eA: place the duster in the green tray.\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the duster in the green tray. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the duster in the green tray.\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the duster in the green tray.\n\u003c/PRED\u003e","video":"1816714784912756541.mp4"}
+{"uid":"7308560074888300113","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ntake out a water bottle from the fridge stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13793585908388176181.mp4"}
+{"uid":"17738479143675224430","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17310400448941191032.mp4"}
+{"uid":"3896720858877443665","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the spoon in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4885464643390745288.mp4"}
+{"uid":"16553104581600375049","text":"\u003ctask:success:discrete:True\u003e\ngrasp the green plastic glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: grasp the green plastic glass\n\u003c/PRED\u003e","video":"9269186075577015945.mp4"}
+{"uid":"8332606710044078601","text":"\u003ctask:success:discrete:False\u003e\npick the duster from the floor Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the duster from the floor\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. last 20 steps: 1- Move back from the green tray 2- Move towards the objects on the floor 3- move towards the duster on the floor. 4- move to the green object 5- pick up the green object 6- drop the green object in the green tray. 7- move away from the green tray. 8- move towards the brush on the floor. Q: next 5 steps? \u003cPRED\u003eA: 1- pick the duster from the floor 2- Place the duster into the tray 3- Move away from the tray 4- Move to the brush on the floor 5- Pick the brush from the floor\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the duster from the floor\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. Q: immediate next step? \u003cPRED\u003eA: pick the duster from the floor\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. last 20 steps: 1- Move back from the green tray 2- Move towards the objects on the floor 3- move towards the duster on the floor. 4- move to the green object 5- pick up the green object 6- drop the green object in the green tray. 7- move away from the green tray. 8- move towards the brush on the floor. Q: immediate next step? \u003cPRED\u003eA: pick the duster from the floor\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the duster from the floor Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2033230321191926352.mp4"}
+{"uid":"16822455205780681051","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput red pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5656005659922770501.mp4"}
+{"uid":"11552449343555092161","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput another toffee in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8404199086800351576.mp4"}
+{"uid":"11158702876672143320","text":"\u003ctask:success:discrete:False\u003e\nMove the brush to the green tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove the brush to the green tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move the brush to the green tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. Q: immediate next step? \u003cPRED\u003eA: Move the brush to the green tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. last 20 steps: 1- Move back from the green tray 2- Move towards the objects on the floor 3- move towards the duster on the floor. 4- move to the green object 5- pick up the green object 6- drop the green object in the green tray. 7- move away from the green tray. 8- move towards the brush on the floor. 9- pick up the duster from the floor. 10- Place the duster into the tray 11- Move away from the tray 12- Move to the brush on the floor 13- Pick the brush from the floor Q: immediate next step? \u003cPRED\u003eA: Move the brush to the green tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. last 20 steps: 1- Move back from the green tray 2- Move towards the objects on the floor 3- move towards the duster on the floor. 4- move to the green object 5- pick up the green object 6- drop the green object in the green tray. 7- move away from the green tray. 8- move towards the brush on the floor. 9- pick up the duster from the floor. 10- Place the duster into the tray 11- Move away from the tray 12- Move to the brush on the floor 13- Pick the brush from the floor Q: next 5 steps? \u003cPRED\u003eA: 1- Move the brush to the green tray 2- Go away from the tray 3- move towards the green glass on the floor. 4- pick up the green glass from the floor. 5- Place the green cup in the green tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move the brush to the green tray\n\u003c/PRED\u003e","video":"16446592513891780716.mp4"}
+{"uid":"13654887534999845863","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the duster in the green tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. Q: immediate next step? \u003cPRED\u003eA: Put the duster in the green tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the duster in the green tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. last 20 steps: 1- Move back from the green tray 2- Move towards the objects on the floor 3- move towards the duster on the floor. 4- move to the green object 5- pick up the green object 6- drop the green object in the green tray. 7- move away from the green tray. 8- move towards the brush on the floor. Q: immediate next step? \u003cPRED\u003eA: Put the duster in the green tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the duster in the green tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the duster in the green tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. last 20 steps: 1- Move back from the green tray 2- Move towards the objects on the floor 3- move towards the duster on the floor. 4- move to the green object 5- pick up the green object 6- drop the green object in the green tray. 7- move away from the green tray. 8- move towards the brush on the floor. Q: next 5 steps? \u003cPRED\u003eA: 1- Put the duster in the green tray 2- Move away from the tray 3- Move to the brush on the floor 4- Pick the brush from the floor 5- put the brush into the tray\n\u003c/PRED\u003e","video":"10693639642003069111.mp4"}
+{"uid":"12072671675611508562","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace chip bag in the left bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17566831532627865030.mp4"}
+{"uid":"4272598361289604826","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the yellow pear on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3024429195653686492.mp4"}
+{"uid":"15649874353840411775","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the orange into the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15832514981514371102.mp4"}
+{"uid":"8409863083052512911","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. Q: immediate next step? \u003cPRED\u003eA: Move to the duster\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove to the duster Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove to the duster Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move to the duster\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. last 20 steps: 1- Move back from the green tray 2- Move towards the objects on the floor 3- move towards the duster on the floor. 4- move to the green object 5- pick up the green object 6- drop the green object in the green tray. 7- move away from the green tray. Q: immediate next step? \u003cPRED\u003eA: Move to the duster\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. last 20 steps: 1- Move back from the green tray 2- Move towards the objects on the floor 3- move towards the duster on the floor. 4- move to the green object 5- pick up the green object 6- drop the green object in the green tray. 7- move away from the green tray. Q: next 5 steps? \u003cPRED\u003eA: 1- Move to the duster 2- Place the duster into the tray 3- Move away from the tray 4- Move to the brush on the floor 5- Pick the brush from the floor\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move to the duster\n\u003c/PRED\u003e","video":"12120859712432460483.mp4"}
+{"uid":"12943717210921051482","text":"\u003ctask:success:discrete:True\u003e\nmove to the duster Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move to the duster\n\u003c/PRED\u003e","video":"2157358974584717632.mp4"}
+{"uid":"4358564366371844810","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the tong in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14662253599294653029.mp4"}
+{"uid":"16864670243218748036","text":"\u003ctask:success:discrete:True\u003e\nmove away from the green tray. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move away from the green tray.\n\u003c/PRED\u003e","video":"2555983091945322756.mp4"}
+{"uid":"6949952835847924013","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the orange on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6689965006801670659.mp4"}
+{"uid":"13807529479035619193","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13751266610307401778.mp4"}
+{"uid":"16861578101079686020","text":"\u003ctask:success:discrete:False\u003e\nDrop the brush in the green tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop the brush in the green tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. Q: immediate next step? \u003cPRED\u003eA: Drop the brush in the green tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop the brush in the green tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. last 20 steps: 1- Move back from the green tray 2- Move towards the objects on the floor 3- move towards the duster on the floor. 4- move to the green object 5- pick up the green object 6- drop the green object in the green tray. 7- move away from the green tray. 8- move towards the brush on the floor. 9- pick up the duster from the floor. 10- Place the duster into the tray 11- Move away from the tray 12- Move to the brush on the floor 13- Pick the brush from the floor Q: immediate next step? \u003cPRED\u003eA: Drop the brush in the green tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop the brush in the green tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. last 20 steps: 1- Move back from the green tray 2- Move towards the objects on the floor 3- move towards the duster on the floor. 4- move to the green object 5- pick up the green object 6- drop the green object in the green tray. 7- move away from the green tray. 8- move towards the brush on the floor. 9- pick up the duster from the floor. 10- Place the duster into the tray 11- Move away from the tray 12- Move to the brush on the floor 13- Pick the brush from the floor Q: next 5 steps? \u003cPRED\u003eA: 1- Drop the brush in the green tray 2- move towards the green glass on the floor. 3- pick up the green glass from the floor. 4- Place the green cup in the green tray 5- done\n\u003c/PRED\u003e","video":"11452942211166355996.mp4"}
+{"uid":"13950068983137671696","text":"\u003ctask:success:discrete:True\u003e\nPick the brush from the floor Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Pick the brush from the floor\n\u003c/PRED\u003e","video":"7132544911360433317.mp4"}
+{"uid":"16927057153688731036","text":"\u003ctask:success:discrete:False\u003e\nPick up the green cup from the floor Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the green cup from the floor\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. last 20 steps: 1- Move back from the green tray 2- Move towards the objects on the floor 3- move towards the duster on the floor. 4- move to the green object 5- pick up the green object 6- drop the green object in the green tray. 7- move away from the green tray. 8- move towards the brush on the floor. 9- pick up the duster from the floor. 10- Place the duster into the tray 11- Move away from the tray 12- Move to the brush on the floor 13- Pick the brush from the floor 14- put the brush into the tray 15- Go away from the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the green cup from the floor 2- Place the green cup in the green tray 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the green cup from the floor Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. last 20 steps: 1- Move back from the green tray 2- Move towards the objects on the floor 3- move towards the duster on the floor. 4- move to the green object 5- pick up the green object 6- drop the green object in the green tray. 7- move away from the green tray. 8- move towards the brush on the floor. 9- pick up the duster from the floor. 10- Place the duster into the tray 11- Move away from the tray 12- Move to the brush on the floor 13- Pick the brush from the floor 14- put the brush into the tray 15- Go away from the tray Q: immediate next step? \u003cPRED\u003eA: Pick up the green cup from the floor\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the green cup from the floor\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. Q: immediate next step? \u003cPRED\u003eA: Pick up the green cup from the floor\n\u003c/PRED\u003e","video":"9693345021344969076.mp4"}
+{"uid":"11738180450305260762","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the yellow packet on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1922771930156806945.mp4"}
+{"uid":"13935157180091829833","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. last 20 steps: 1- Move back from the green tray 2- Move towards the objects on the floor 3- move towards the duster on the floor. 4- move to the green object 5- pick up the green object 6- drop the green object in the green tray. 7- move away from the green tray. 8- move towards the brush on the floor. 9- pick up the duster from the floor. 10- Place the duster into the tray 11- Move away from the tray 12- Move to the brush on the floor 13- Pick the brush from the floor 14- put the brush into the tray 15- Go away from the tray 16- move towards the green glass on the floor. Q: immediate next step? \u003cPRED\u003eA: drop the green glass in the green tray.\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the green glass in the green tray.\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the green glass in the green tray. Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. Q: immediate next step? \u003cPRED\u003eA: drop the green glass in the green tray.\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the green glass in the green tray.\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the green glass in the green tray. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. last 20 steps: 1- Move back from the green tray 2- Move towards the objects on the floor 3- move towards the duster on the floor. 4- move to the green object 5- pick up the green object 6- drop the green object in the green tray. 7- move away from the green tray. 8- move towards the brush on the floor. 9- pick up the duster from the floor. 10- Place the duster into the tray 11- Move away from the tray 12- Move to the brush on the floor 13- Pick the brush from the floor 14- put the brush into the tray 15- Go away from the tray 16- move towards the green glass on the floor. Q: next 5 steps? \u003cPRED\u003eA: 1- drop the green glass in the green tray. 2- done\n\u003c/PRED\u003e","video":"5413785988129130635.mp4"}
+{"uid":"2580176444070617787","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. Q: immediate next step? \u003cPRED\u003eA: move towards the green glass on the floor.\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move towards the green glass on the floor.\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove towards the green glass on the floor. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. last 20 steps: 1- Move back from the green tray 2- Move towards the objects on the floor 3- move towards the duster on the floor. 4- move to the green object 5- pick up the green object 6- drop the green object in the green tray. 7- move away from the green tray. 8- move towards the brush on the floor. 9- pick up the duster from the floor. 10- Place the duster into the tray 11- Move away from the tray 12- Move to the brush on the floor 13- Pick the brush from the floor 14- put the brush into the tray Q: next 5 steps? \u003cPRED\u003eA: 1- move towards the green glass on the floor. 2- Place the green cup in the green tray 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move towards the green glass on the floor.\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. last 20 steps: 1- Move back from the green tray 2- Move towards the objects on the floor 3- move towards the duster on the floor. 4- move to the green object 5- pick up the green object 6- drop the green object in the green tray. 7- move away from the green tray. 8- move towards the brush on the floor. 9- pick up the duster from the floor. 10- Place the duster into the tray 11- Move away from the tray 12- Move to the brush on the floor 13- Pick the brush from the floor 14- put the brush into the tray Q: immediate next step? \u003cPRED\u003eA: move towards the green glass on the floor.\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove towards the green glass on the floor. Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8928718728645748114.mp4"}
+{"uid":"17619654195392369431","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pen on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5159369095742489564.mp4"}
+{"uid":"14290072838386924135","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the green object from the floor Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. Q: immediate next step? \u003cPRED\u003eA: Pick up the green object from the floor\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the green object from the floor Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the green object from the floor\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. last 20 steps: 1- Move back from the green tray 2- Move towards the objects on the floor 3- move towards the duster on the floor. Q: immediate next step? \u003cPRED\u003eA: Pick up the green object from the floor\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. last 20 steps: 1- Move back from the green tray 2- Move towards the objects on the floor 3- move towards the duster on the floor. Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the green object from the floor 2- drop the green object in the green tray. 3- move away from the green tray. 4- move towards the brush on the floor. 5- pick up the duster from the floor.\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the green object from the floor\n\u003c/PRED\u003e","video":"10371061588648439371.mp4"}
+{"uid":"5145989939973297531","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pistachio in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5470784292457972379.mp4"}
+{"uid":"1387080746720607658","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up the green object\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick up the green object Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9345710325150603128.mp4"}
+{"uid":"1459310789825028367","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6704381273529258760.mp4"}
+{"uid":"7013381624600556290","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace orange packet inside the white tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9289342284386630488.mp4"}
+{"uid":"8982629321003974602","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. last 20 steps: 1- Move back from the green tray 2- Move towards the objects on the floor 3- move towards the duster on the floor. 4- move to the green object 5- pick up the green object 6- drop the green object in the green tray. 7- move away from the green tray. 8- move towards the brush on the floor. Q: next 5 steps? \u003cPRED\u003eA: 1- Place the duster into the tray 2- Move away from the tray 3- Move to the brush on the floor 4- Pick the brush from the floor 5- put the brush into the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the duster into the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the duster into the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the duster into the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. last 20 steps: 1- Move back from the green tray 2- Move towards the objects on the floor 3- move towards the duster on the floor. 4- move to the green object 5- pick up the green object 6- drop the green object in the green tray. 7- move away from the green tray. 8- move towards the brush on the floor. Q: immediate next step? \u003cPRED\u003eA: Place the duster into the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. Q: immediate next step? \u003cPRED\u003eA: Place the duster into the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the duster into the tray\n\u003c/PRED\u003e","video":"12441983079083206410.mp4"}
+{"uid":"7926066944452139023","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput orange in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16410177612399657933.mp4"}
+{"uid":"16877845548795931368","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace an orange on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4645915522015782570.mp4"}
+{"uid":"7440799607481765090","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the duster in the green tray.\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the duster in the green tray. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2685352252274912837.mp4"}
+{"uid":"3363608104437898234","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nmove away from the green tray. Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. last 20 steps: 1- Move back from the green tray 2- Move towards the objects on the floor 3- move towards the duster on the floor. 4- move to the green object 5- pick up the green object 6- drop the green object in the green tray. 7- move away from the green tray. 8- move towards the brush on the floor. 9- pick up the duster from the floor. 10- Place the duster into the tray 11- Move away from the tray 12- Move to the brush on the floor 13- Pick the brush from the floor 14- put the brush into the tray Q: next 5 steps? \u003cPRED\u003eA: 1- move away from the green tray. 2- pick up the green glass from the floor. 3- Place the green cup in the green tray 4- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move away from the green tray.\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove away from the green tray. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. Q: immediate next step? \u003cPRED\u003eA: move away from the green tray.\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. last 20 steps: 1- Move back from the green tray 2- Move towards the objects on the floor 3- move towards the duster on the floor. 4- move to the green object 5- pick up the green object 6- drop the green object in the green tray. 7- move away from the green tray. 8- move towards the brush on the floor. 9- pick up the duster from the floor. 10- Place the duster into the tray 11- Move away from the tray 12- Move to the brush on the floor 13- Pick the brush from the floor 14- put the brush into the tray Q: immediate next step? \u003cPRED\u003eA: move away from the green tray.\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move away from the green tray.\n\u003c/PRED\u003e","video":"14205544594195455186.mp4"}
+{"uid":"15838041807016709269","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the yellow chip bag on the grey table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13328547471307026572.mp4"}
+{"uid":"4550618255299389930","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. last 20 steps: 1- Move back from the green tray 2- Move towards the objects on the floor 3- move towards the duster on the floor. 4- move to the green object 5- pick up the green object 6- drop the green object in the green tray. 7- move away from the green tray. 8- move towards the brush on the floor. Q: immediate next step? \u003cPRED\u003eA: pick up the duster\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. last 20 steps: 1- Move back from the green tray 2- Move towards the objects on the floor 3- move towards the duster on the floor. 4- move to the green object 5- pick up the green object 6- drop the green object in the green tray. 7- move away from the green tray. 8- move towards the brush on the floor. Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the duster 2- Move away from the tray 3- Move to the brush on the floor 4- Pick the brush from the floor 5- put the brush into the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the duster Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the duster\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. Q: immediate next step? \u003cPRED\u003eA: pick up the duster\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the duster Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the duster\n\u003c/PRED\u003e","video":"14210756491132057357.mp4"}
+{"uid":"14692170151865798332","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop a black pebble into the left transparent glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11936759441021026708.mp4"}
+{"uid":"13959759727667989221","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the cucumber from the floor\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the cucumber from the floor\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the cucumber from the floor Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. last 20 steps: 1- Move back from the green tray 2- Move towards the objects on the floor 3- move towards the duster on the floor. 4- move to the green object Q: immediate next step? \u003cPRED\u003eA: Pick up the cucumber from the floor\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the cucumber from the floor Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. last 20 steps: 1- Move back from the green tray 2- Move towards the objects on the floor 3- move towards the duster on the floor. 4- move to the green object Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the cucumber from the floor 2- move away from the green tray. 3- move towards the brush on the floor. 4- pick up the duster from the floor. 5- Place the duster into the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. Q: immediate next step? \u003cPRED\u003eA: Pick up the cucumber from the floor\n\u003c/PRED\u003e","video":"5359719367627873849.mp4"}
+{"uid":"7557187647650972262","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the packet in the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13926664825878654334.mp4"}
+{"uid":"8885333183533827886","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. last 20 steps: 1- Move back from the green tray 2- Move towards the objects on the floor 3- move towards the duster on the floor. 4- move to the green object 5- pick up the green object 6- drop the green object in the green tray. 7- move away from the green tray. 8- move towards the brush on the floor. 9- pick up the duster from the floor. 10- Place the duster into the tray 11- Move away from the tray 12- Move to the brush on the floor 13- Pick the brush from the floor 14- put the brush into the tray Q: next 5 steps? \u003cPRED\u003eA: 1- grasp the green plastic glass 2- Place the green cup in the green tray 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ngrasp the green plastic glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. Q: immediate next step? \u003cPRED\u003eA: grasp the green plastic glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ngrasp the green plastic glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: grasp the green plastic glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. last 20 steps: 1- Move back from the green tray 2- Move towards the objects on the floor 3- move towards the duster on the floor. 4- move to the green object 5- pick up the green object 6- drop the green object in the green tray. 7- move away from the green tray. 8- move towards the brush on the floor. 9- pick up the duster from the floor. 10- Place the duster into the tray 11- Move away from the tray 12- Move to the brush on the floor 13- Pick the brush from the floor 14- put the brush into the tray Q: immediate next step? \u003cPRED\u003eA: grasp the green plastic glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: grasp the green plastic glass\n\u003c/PRED\u003e","video":"16609334740557062839.mp4"}
+{"uid":"15178843383859656235","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace blue pen in the pen stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18232944781754569165.mp4"}
+{"uid":"4599516179357668986","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Lift the brush from the floor\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nLift the brush from the floor Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13127934125613647038.mp4"}
+{"uid":"8011356071617256295","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nLift the hint bottle from the floor Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18022742343320357250.mp4"}
+{"uid":"4914593368050879743","text":"\u003ctask:success:discrete:True\u003e\ndrop the green object in the green tray. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the green object in the green tray.\n\u003c/PRED\u003e","video":"11697762840501363300.mp4"}
+{"uid":"15781431718751865655","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nMove to the green tray on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move to the green tray on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove to the green tray on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. last 20 steps: 1- Move back from the green tray 2- Move towards the objects on the floor 3- move towards the duster on the floor. 4- move to the green object 5- pick up the green object Q: immediate next step? \u003cPRED\u003eA: Move to the green tray on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. last 20 steps: 1- Move back from the green tray 2- Move towards the objects on the floor 3- move towards the duster on the floor. 4- move to the green object 5- pick up the green object Q: next 5 steps? \u003cPRED\u003eA: 1- Move to the green tray on the table 2- move away from the green tray. 3- move towards the brush on the floor. 4- pick up the duster from the floor. 5- Place the duster into the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move to the green tray on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. Q: immediate next step? \u003cPRED\u003eA: Move to the green tray on the table\n\u003c/PRED\u003e","video":"5935006030871251135.mp4"}
+{"uid":"7838722711147132429","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npickup a packet kept on the table and place it in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"285012762337257524.mp4"}
+{"uid":"4273422029517116469","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. last 20 steps: 1- Move back from the green tray 2- Move towards the objects on the floor 3- move towards the duster on the floor. 4- move to the green object 5- pick up the green object 6- drop the green object in the green tray. 7- move away from the green tray. 8- move towards the brush on the floor. 9- pick up the duster from the floor. 10- Place the duster into the tray 11- Move away from the tray 12- Move to the brush on the floor 13- Pick the brush from the floor 14- put the brush into the tray 15- Go away from the tray 16- move towards the green glass on the floor. Q: next 5 steps? \u003cPRED\u003eA: 1- lift the green plastic glass 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: lift the green plastic glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. Q: immediate next step? \u003cPRED\u003eA: lift the green plastic glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nlift the green plastic glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. last 20 steps: 1- Move back from the green tray 2- Move towards the objects on the floor 3- move towards the duster on the floor. 4- move to the green object 5- pick up the green object 6- drop the green object in the green tray. 7- move away from the green tray. 8- move towards the brush on the floor. 9- pick up the duster from the floor. 10- Place the duster into the tray 11- Move away from the tray 12- Move to the brush on the floor 13- Pick the brush from the floor 14- put the brush into the tray 15- Go away from the tray 16- move towards the green glass on the floor. Q: immediate next step? \u003cPRED\u003eA: lift the green plastic glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: lift the green plastic glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nlift the green plastic glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17243502126612239430.mp4"}
+{"uid":"1650887368608229394","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace packets in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11857362674789114239.mp4"}
+{"uid":"10343354620215408360","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Move to the floor\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nMove to the floor Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10988337255680823811.mp4"}
+{"uid":"9437186022939858362","text":"\u003ctask:success:discrete:True\u003e\nPick up the cucumber from the floor Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Pick up the cucumber from the floor\n\u003c/PRED\u003e","video":"18244928836721055593.mp4"}
+{"uid":"4199925701833091692","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the pistachio in the paper glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6670559131842560034.mp4"}
+{"uid":"1649017744042968756","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move to the green tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nmove to the green tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7792604572100060931.mp4"}
+{"uid":"16867690299851006721","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nMove towards the objects on the floor Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move towards the objects on the floor\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove towards the objects on the floor Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. last 20 steps: 1- Move back from the green tray Q: next 5 steps? \u003cPRED\u003eA: 1- Move towards the objects on the floor 2- move towards the duster on the floor. 3- move to the green object 4- pick up the green object 5- drop the green object in the green tray.\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. Q: immediate next step? \u003cPRED\u003eA: Move towards the objects on the floor\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move towards the objects on the floor\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. last 20 steps: 1- Move back from the green tray Q: immediate next step? \u003cPRED\u003eA: Move towards the objects on the floor\n\u003c/PRED\u003e","video":"3717049432019209195.mp4"}
+{"uid":"5752353087266091362","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Move to the brush on the floor\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nMove to the brush on the floor Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10182277650772624886.mp4"}
+{"uid":"10847947113971969190","text":"\u003ctask:success:discrete:True\u003e\nmove away from the green tray. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move away from the green tray.\n\u003c/PRED\u003e","video":"5671209574971059984.mp4"}
+{"uid":"11701876323431035622","text":"\u003ctask:success:discrete:True\u003e\nMove downwards to the floor Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Move downwards to the floor\n\u003c/PRED\u003e","video":"7702768757831113411.mp4"}
+{"uid":"11062084468538959547","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop the orange chocolate into the middle glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9435599601664632527.mp4"}
+{"uid":"3076368223818807266","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick the duster from the floor\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick the duster from the floor Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2316197574322567547.mp4"}
+{"uid":"4788759796441897317","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the brown packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1216629557387953093.mp4"}
+{"uid":"13467574512988899808","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput brown packet on white table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2221305540609002882.mp4"}
+{"uid":"12762946099393616253","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Pick up the green glass from the floor\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPick up the green glass from the floor Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14735507731652724112.mp4"}
+{"uid":"13898470381453958357","text":"\u003ctask:success:discrete:True\u003e\ngrab the brush. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: grab the brush.\n\u003c/PRED\u003e","video":"17726855127351375554.mp4"}
+{"uid":"17474350393828776233","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the pen holder in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13835833537457085069.mp4"}
+{"uid":"6145827265652050791","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. last 20 steps: 1- Move back from the green tray 2- Move towards the objects on the floor 3- move towards the duster on the floor. 4- move to the green object 5- pick up the green object 6- drop the green object in the green tray. 7- move away from the green tray. 8- move towards the brush on the floor. 9- pick up the duster from the floor. 10- Place the duster into the tray 11- Move away from the tray 12- Move to the brush on the floor 13- Pick the brush from the floor Q: next 5 steps? \u003cPRED\u003eA: 1- Place the brush in the green tray 2- Go away from the tray 3- move towards the green glass on the floor. 4- pick up the green glass from the floor. 5- Place the green cup in the green tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the brush in the green tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the brush in the green tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. last 20 steps: 1- Move back from the green tray 2- Move towards the objects on the floor 3- move towards the duster on the floor. 4- move to the green object 5- pick up the green object 6- drop the green object in the green tray. 7- move away from the green tray. 8- move towards the brush on the floor. 9- pick up the duster from the floor. 10- Place the duster into the tray 11- Move away from the tray 12- Move to the brush on the floor 13- Pick the brush from the floor Q: immediate next step? \u003cPRED\u003eA: Place the brush in the green tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. Q: immediate next step? \u003cPRED\u003eA: Place the brush in the green tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the brush in the green tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the brush in the green tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7404817628066264041.mp4"}
+{"uid":"14203006071721554315","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the red bull can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10363383568442719492.mp4"}
+{"uid":"3054086217871863433","text":"\u003ctask:success:discrete:True\u003e\nPick up the green cup from the floor Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Pick up the green cup from the floor\n\u003c/PRED\u003e","video":"10246745832952456695.mp4"}
+{"uid":"18096252919049147312","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the candy in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11027409018798657229.mp4"}
+{"uid":"16255760604684279920","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: grab the brush.\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ngrab the brush. Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. last 20 steps: 1- Move back from the green tray 2- Move towards the objects on the floor 3- move towards the duster on the floor. 4- move to the green object 5- pick up the green object 6- drop the green object in the green tray. 7- move away from the green tray. 8- move towards the brush on the floor. 9- pick up the duster from the floor. 10- Place the duster into the tray 11- Move away from the tray Q: immediate next step? \u003cPRED\u003eA: grab the brush.\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: grab the brush.\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ngrab the brush. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. last 20 steps: 1- Move back from the green tray 2- Move towards the objects on the floor 3- move towards the duster on the floor. 4- move to the green object 5- pick up the green object 6- drop the green object in the green tray. 7- move away from the green tray. 8- move towards the brush on the floor. 9- pick up the duster from the floor. 10- Place the duster into the tray 11- Move away from the tray Q: next 5 steps? \u003cPRED\u003eA: 1- grab the brush. 2- put the brush into the tray 3- Go away from the tray 4- move towards the green glass on the floor. 5- pick up the green glass from the floor.\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. Q: immediate next step? \u003cPRED\u003eA: grab the brush.\n\u003c/PRED\u003e","video":"5834458935189391188.mp4"}
+{"uid":"12579201222443038372","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pistachios into the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8964347916943391756.mp4"}
+{"uid":"12507757261952658182","text":"\u003ctask:success:discrete:True\u003e\nGo away from the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Go away from the tray\n\u003c/PRED\u003e","video":"5793497201341649158.mp4"}
+{"uid":"7027801806143213406","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. Q: immediate next step? \u003cPRED\u003eA: Move away from the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move away from the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move away from the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove away from the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove away from the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. last 20 steps: 1- Move back from the green tray 2- Move towards the objects on the floor 3- move towards the duster on the floor. 4- move to the green object 5- pick up the green object 6- drop the green object in the green tray. 7- move away from the green tray. 8- move towards the brush on the floor. 9- pick up the duster from the floor. 10- Place the duster into the tray Q: immediate next step? \u003cPRED\u003eA: Move away from the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. last 20 steps: 1- Move back from the green tray 2- Move towards the objects on the floor 3- move towards the duster on the floor. 4- move to the green object 5- pick up the green object 6- drop the green object in the green tray. 7- move away from the green tray. 8- move towards the brush on the floor. 9- pick up the duster from the floor. 10- Place the duster into the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Move away from the tray 2- Move to the brush on the floor 3- Pick the brush from the floor 4- put the brush into the tray 5- Go away from the tray\n\u003c/PRED\u003e","video":"552985135174039794.mp4"}
+{"uid":"9419719022125651641","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nMove towards the items on the floor Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. last 20 steps: 1- Move back from the green tray 2- Move towards the objects on the floor 3- move towards the duster on the floor. 4- move to the green object 5- pick up the green object 6- drop the green object in the green tray. 7- move away from the green tray. 8- move towards the brush on the floor. 9- pick up the duster from the floor. 10- Place the duster into the tray Q: immediate next step? \u003cPRED\u003eA: Move towards the items on the floor\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. last 20 steps: 1- Move back from the green tray 2- Move towards the objects on the floor 3- move towards the duster on the floor. 4- move to the green object 5- pick up the green object 6- drop the green object in the green tray. 7- move away from the green tray. 8- move towards the brush on the floor. 9- pick up the duster from the floor. 10- Place the duster into the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Move towards the items on the floor 2- Move to the brush on the floor 3- Pick the brush from the floor 4- put the brush into the tray 5- Go away from the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move towards the items on the floor\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. Q: immediate next step? \u003cPRED\u003eA: Move towards the items on the floor\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move towards the items on the floor\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove towards the items on the floor Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9041019497565619942.mp4"}
+{"uid":"12889354884808505335","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the banana in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14124233132155007064.mp4"}
+{"uid":"18114040857734842708","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. last 20 steps: 1- Move back from the green tray 2- Move towards the objects on the floor 3- move towards the duster on the floor. 4- move to the green object 5- pick up the green object 6- drop the green object in the green tray. 7- move away from the green tray. 8- move towards the brush on the floor. 9- pick up the duster from the floor. 10- Place the duster into the tray 11- Move away from the tray 12- Move to the brush on the floor 13- Pick the brush from the floor 14- put the brush into the tray 15- Go away from the tray 16- move towards the green glass on the floor. 17- Place the green cup in the green tray Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the green cup in the green tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. last 20 steps: 1- Move back from the green tray 2- Move towards the objects on the floor 3- move towards the duster on the floor. 4- move to the green object 5- pick up the green object 6- drop the green object in the green tray. 7- move away from the green tray. 8- move towards the brush on the floor. 9- pick up the duster from the floor. 10- Place the duster into the tray 11- Move away from the tray 12- Move to the brush on the floor 13- Pick the brush from the floor 14- put the brush into the tray 15- Go away from the tray 16- move towards the green glass on the floor. 17- Place the green cup in the green tray Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the green cup in the green tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"2934891738682730676.mp4"}
+{"uid":"6560029717478921640","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move to the duster\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move to the duster\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove to the duster Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. last 20 steps: 1- Move back from the green tray 2- Move towards the objects on the floor 3- move towards the duster on the floor. 4- move to the green object 5- pick up the green object 6- drop the green object in the green tray. 7- move away from the green tray. Q: next 5 steps? \u003cPRED\u003eA: 1- move to the duster 2- Place the duster into the tray 3- Move away from the tray 4- Move to the brush on the floor 5- Pick the brush from the floor\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. last 20 steps: 1- Move back from the green tray 2- Move towards the objects on the floor 3- move towards the duster on the floor. 4- move to the green object 5- pick up the green object 6- drop the green object in the green tray. 7- move away from the green tray. Q: immediate next step? \u003cPRED\u003eA: move to the duster\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. Q: immediate next step? \u003cPRED\u003eA: move to the duster\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove to the duster Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5737515527667042220.mp4"}
+{"uid":"2879187875486401473","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop pistachio in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11793268635396963602.mp4"}
+{"uid":"14284732702031927403","text":"\u003ctask:success:discrete:False\u003e\nPick the brush from the floor Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. last 20 steps: 1- Move back from the green tray 2- Move towards the objects on the floor 3- move towards the duster on the floor. 4- move to the green object 5- pick up the green object 6- drop the green object in the green tray. 7- move away from the green tray. 8- move towards the brush on the floor. 9- pick up the duster from the floor. 10- Place the duster into the tray 11- Move away from the tray 12- Move to the brush on the floor Q: next 5 steps? \u003cPRED\u003eA: 1- Pick the brush from the floor 2- put the brush into the tray 3- Go away from the tray 4- move towards the green glass on the floor. 5- pick up the green glass from the floor.\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick the brush from the floor Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick the brush from the floor\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick the brush from the floor\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. last 20 steps: 1- Move back from the green tray 2- Move towards the objects on the floor 3- move towards the duster on the floor. 4- move to the green object 5- pick up the green object 6- drop the green object in the green tray. 7- move away from the green tray. 8- move towards the brush on the floor. 9- pick up the duster from the floor. 10- Place the duster into the tray 11- Move away from the tray 12- Move to the brush on the floor Q: immediate next step? \u003cPRED\u003eA: Pick the brush from the floor\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. Q: immediate next step? \u003cPRED\u003eA: Pick the brush from the floor\n\u003c/PRED\u003e","video":"9798137510205532640.mp4"}
+{"uid":"8877364945120833932","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. last 20 steps: 1- Move back from the green tray 2- Move towards the objects on the floor Q: immediate next step? \u003cPRED\u003eA: Move downwards to the floor\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move downwards to the floor\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove downwards to the floor Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. last 20 steps: 1- Move back from the green tray 2- Move towards the objects on the floor Q: next 5 steps? \u003cPRED\u003eA: 1- Move downwards to the floor 2- pick up the green object 3- drop the green object in the green tray. 4- move away from the green tray. 5- move towards the brush on the floor.\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move downwards to the floor\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. Q: immediate next step? \u003cPRED\u003eA: Move downwards to the floor\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove downwards to the floor Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1273737188856712328.mp4"}
+{"uid":"685250236063103793","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. last 20 steps: 1- Move back from the green tray 2- Move towards the objects on the floor 3- move towards the duster on the floor. 4- move to the green object 5- pick up the green object 6- drop the green object in the green tray. 7- move away from the green tray. 8- move towards the brush on the floor. 9- pick up the duster from the floor. 10- Place the duster into the tray 11- Move away from the tray Q: immediate next step? \u003cPRED\u003eA: Move down to the brush on the floor\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove down to the brush on the floor Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move down to the brush on the floor\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. Q: immediate next step? \u003cPRED\u003eA: Move down to the brush on the floor\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. last 20 steps: 1- Move back from the green tray 2- Move towards the objects on the floor 3- move towards the duster on the floor. 4- move to the green object 5- pick up the green object 6- drop the green object in the green tray. 7- move away from the green tray. 8- move towards the brush on the floor. 9- pick up the duster from the floor. 10- Place the duster into the tray 11- Move away from the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Move down to the brush on the floor 2- put the brush into the tray 3- Go away from the tray 4- move towards the green glass on the floor. 5- pick up the green glass from the floor.\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove down to the brush on the floor Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move down to the brush on the floor\n\u003c/PRED\u003e","video":"2285533909122109947.mp4"}
+{"uid":"2746823938043405877","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. last 20 steps: 1- Move back from the green tray 2- Move towards the objects on the floor 3- move towards the duster on the floor. 4- move to the green object 5- pick up the green object 6- drop the green object in the green tray. 7- move away from the green tray. 8- move towards the brush on the floor. 9- pick up the duster from the floor. 10- Place the duster into the tray 11- Move away from the tray 12- Move to the brush on the floor 13- Pick the brush from the floor 14- put the brush into the tray 15- Go away from the tray 16- move towards the green glass on the floor. 17- lift the green plastic glass Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. last 20 steps: 1- Move back from the green tray 2- Move towards the objects on the floor 3- move towards the duster on the floor. 4- move to the green object 5- pick up the green object 6- drop the green object in the green tray. 7- move away from the green tray. 8- move towards the brush on the floor. 9- pick up the duster from the floor. 10- Place the duster into the tray 11- Move away from the tray 12- Move to the brush on the floor 13- Pick the brush from the floor 14- put the brush into the tray 15- Go away from the tray 16- move towards the green glass on the floor. 17- lift the green plastic glass Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nlift the green plastic glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: lift the green plastic glass\n\u003c/PRED\u003e","video":"2201381695962443419.mp4"}
+{"uid":"8618865456769112282","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput tissue paper on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"277184266096165439.mp4"}
+{"uid":"1958031783724926461","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the pistachios in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"906594678906236346.mp4"}
+{"uid":"6283983019295705746","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move to the green object\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nmove to the green object Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11145310057107426930.mp4"}
+{"uid":"7629310152931596090","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the candy in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14776187818335306624.mp4"}
+{"uid":"6304093929666261780","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move to the green tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove to the green tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move to the green tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove to the green tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. last 20 steps: 1- Move back from the green tray 2- Move towards the objects on the floor 3- move towards the duster on the floor. 4- move to the green object Q: immediate next step? \u003cPRED\u003eA: move to the green tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. last 20 steps: 1- Move back from the green tray 2- Move towards the objects on the floor 3- move towards the duster on the floor. 4- move to the green object Q: next 5 steps? \u003cPRED\u003eA: 1- move to the green tray 2- move away from the green tray. 3- move towards the brush on the floor. 4- pick up the duster from the floor. 5- Place the duster into the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. Q: immediate next step? \u003cPRED\u003eA: move to the green tray\n\u003c/PRED\u003e","video":"4464950743129817149.mp4"}
+{"uid":"12637622822971230089","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the chess coin in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18305619685089229600.mp4"}
+{"uid":"5709297472169923474","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the yellow toffee on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18061306776029677842.mp4"}
+{"uid":"11594487515546258148","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up the green object\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick up the green object Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2106253757723938605.mp4"}
+{"uid":"14172434614060721836","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nopen the cap of the bottle Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2235672997110672406.mp4"}
+{"uid":"17848376388663182704","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the holder into the cardboard box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6709666219675164578.mp4"}
+{"uid":"5222354050874094725","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the blue packet in the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10459977601986863560.mp4"}
+{"uid":"3464850779673803518","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Move away from the green tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nMove away from the green tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5047945197196988714.mp4"}
+{"uid":"17007188922163671426","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. last 20 steps: 1- Move back from the green tray 2- Move towards the objects on the floor 3- move towards the duster on the floor. 4- move to the green object 5- pick up the green object 6- drop the green object in the green tray. 7- move away from the green tray. 8- move towards the brush on the floor. 9- pick up the duster from the floor. 10- Place the duster into the tray 11- Move away from the tray 12- Move to the brush on the floor 13- Pick the brush from the floor 14- put the brush into the tray 15- Go away from the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Move to the green glass on the floor 2- Place the green cup in the green tray 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. Q: immediate next step? \u003cPRED\u003eA: Move to the green glass on the floor\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move to the green glass on the floor\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove to the green glass on the floor Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove to the green glass on the floor Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move to the green glass on the floor\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. last 20 steps: 1- Move back from the green tray 2- Move towards the objects on the floor 3- move towards the duster on the floor. 4- move to the green object 5- pick up the green object 6- drop the green object in the green tray. 7- move away from the green tray. 8- move towards the brush on the floor. 9- pick up the duster from the floor. 10- Place the duster into the tray 11- Move away from the tray 12- Move to the brush on the floor 13- Pick the brush from the floor 14- put the brush into the tray 15- Go away from the tray Q: immediate next step? \u003cPRED\u003eA: Move to the green glass on the floor\n\u003c/PRED\u003e","video":"2843055720516692439.mp4"}
+{"uid":"12618040005691312259","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3235675219942588628.mp4"}
+{"uid":"8490277230667709134","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the sticky notes into the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11653243838019718422.mp4"}
+{"uid":"15624971599876327695","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. last 20 steps: 1- Move back from the green tray 2- Move towards the objects on the floor 3- move towards the duster on the floor. 4- move to the green object 5- pick up the green object 6- drop the green object in the green tray. 7- move away from the green tray. 8- move towards the brush on the floor. 9- pick up the duster from the floor. Q: immediate next step? \u003cPRED\u003eA: Drop the duster in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. Q: immediate next step? \u003cPRED\u003eA: Drop the duster in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop the duster in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. last 20 steps: 1- Move back from the green tray 2- Move towards the objects on the floor 3- move towards the duster on the floor. 4- move to the green object 5- pick up the green object 6- drop the green object in the green tray. 7- move away from the green tray. 8- move towards the brush on the floor. 9- pick up the duster from the floor. Q: next 5 steps? \u003cPRED\u003eA: 1- Drop the duster in the tray 2- Move away from the tray 3- Move to the brush on the floor 4- Pick the brush from the floor 5- put the brush into the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrop the duster in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop the duster in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop the duster in the tray\n\u003c/PRED\u003e","video":"1203440070341293178.mp4"}
+{"uid":"16224490901190235221","text":"\u003ctask:success:discrete:True\u003e\ndrop the brush in the green tray. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the brush in the green tray.\n\u003c/PRED\u003e","video":"18174394903627971025.mp4"}
+{"uid":"993449861858060978","text":"\u003ctask:success:discrete:False\u003e\nLift the brush from the floor Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Lift the brush from the floor\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nLift the brush from the floor Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. Q: immediate next step? \u003cPRED\u003eA: Lift the brush from the floor\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. last 20 steps: 1- Move back from the green tray 2- Move towards the objects on the floor 3- move towards the duster on the floor. 4- move to the green object 5- pick up the green object 6- drop the green object in the green tray. 7- move away from the green tray. 8- move towards the brush on the floor. 9- pick up the duster from the floor. 10- Place the duster into the tray 11- Move away from the tray 12- Move to the brush on the floor Q: next 5 steps? \u003cPRED\u003eA: 1- Lift the brush from the floor 2- Go away from the tray 3- move towards the green glass on the floor. 4- pick up the green glass from the floor. 5- Place the green cup in the green tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Lift the brush from the floor\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. last 20 steps: 1- Move back from the green tray 2- Move towards the objects on the floor 3- move towards the duster on the floor. 4- move to the green object 5- pick up the green object 6- drop the green object in the green tray. 7- move away from the green tray. 8- move towards the brush on the floor. 9- pick up the duster from the floor. 10- Place the duster into the tray 11- Move away from the tray 12- Move to the brush on the floor Q: immediate next step? \u003cPRED\u003eA: Lift the brush from the floor\n\u003c/PRED\u003e","video":"16664908711203378763.mp4"}
+{"uid":"3717071233575075357","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the packet in the empty bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11097744062583844726.mp4"}
+{"uid":"15967317938722042951","text":"\u003ctask:success:discrete:True\u003e\nmove towards the duster on the floor. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move towards the duster on the floor.\n\u003c/PRED\u003e","video":"9004863374760824099.mp4"}
+{"uid":"17294903054473296152","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\narrange the pillow Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11187929283573334671.mp4"}
+{"uid":"9784372644827147208","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move to the objects on the floor\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. last 20 steps: 1- Move back from the green tray 2- Move towards the objects on the floor 3- move towards the duster on the floor. 4- move to the green object 5- pick up the green object 6- drop the green object in the green tray. 7- move away from the green tray. 8- move towards the brush on the floor. 9- pick up the duster from the floor. 10- Place the duster into the tray 11- Move away from the tray 12- Move to the brush on the floor 13- Pick the brush from the floor 14- put the brush into the tray Q: immediate next step? \u003cPRED\u003eA: Move to the objects on the floor\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move to the objects on the floor\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. Q: immediate next step? \u003cPRED\u003eA: Move to the objects on the floor\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove to the objects on the floor Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. last 20 steps: 1- Move back from the green tray 2- Move towards the objects on the floor 3- move towards the duster on the floor. 4- move to the green object 5- pick up the green object 6- drop the green object in the green tray. 7- move away from the green tray. 8- move towards the brush on the floor. 9- pick up the duster from the floor. 10- Place the duster into the tray 11- Move away from the tray 12- Move to the brush on the floor 13- Pick the brush from the floor 14- put the brush into the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Move to the objects on the floor 2- pick up the green glass from the floor. 3- Place the green cup in the green tray 4- done\n\u003c/PRED\u003e","video":"2689510935579307592.mp4"}
+{"uid":"4319293847728475691","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move towards the green tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. last 20 steps: 1- Move back from the green tray 2- Move towards the objects on the floor 3- move towards the duster on the floor. 4- move to the green object 5- pick up the green object 6- drop the green object in the green tray. 7- move away from the green tray. 8- move towards the brush on the floor. 9- pick up the duster from the floor. 10- Place the duster into the tray 11- Move away from the tray 12- Move to the brush on the floor 13- Pick the brush from the floor 14- put the brush into the tray 15- Go away from the tray 16- move towards the green glass on the floor. Q: next 5 steps? \u003cPRED\u003eA: 1- Move towards the green tray 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove towards the green tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move towards the green tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. last 20 steps: 1- Move back from the green tray 2- Move towards the objects on the floor 3- move towards the duster on the floor. 4- move to the green object 5- pick up the green object 6- drop the green object in the green tray. 7- move away from the green tray. 8- move towards the brush on the floor. 9- pick up the duster from the floor. 10- Place the duster into the tray 11- Move away from the tray 12- Move to the brush on the floor 13- Pick the brush from the floor 14- put the brush into the tray 15- Go away from the tray 16- move towards the green glass on the floor. Q: immediate next step? \u003cPRED\u003eA: Move towards the green tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. Q: immediate next step? \u003cPRED\u003eA: Move towards the green tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove towards the green tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16408647147496530555.mp4"}
+{"uid":"5308205281025512798","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the brush\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the brush\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. Q: immediate next step? \u003cPRED\u003eA: pick up the brush\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the brush Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. last 20 steps: 1- Move back from the green tray 2- Move towards the objects on the floor 3- move towards the duster on the floor. 4- move to the green object 5- pick up the green object 6- drop the green object in the green tray. 7- move away from the green tray. 8- move towards the brush on the floor. 9- pick up the duster from the floor. 10- Place the duster into the tray 11- Move away from the tray 12- Move to the brush on the floor Q: immediate next step? \u003cPRED\u003eA: pick up the brush\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the brush Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. last 20 steps: 1- Move back from the green tray 2- Move towards the objects on the floor 3- move towards the duster on the floor. 4- move to the green object 5- pick up the green object 6- drop the green object in the green tray. 7- move away from the green tray. 8- move towards the brush on the floor. 9- pick up the duster from the floor. 10- Place the duster into the tray 11- Move away from the tray 12- Move to the brush on the floor Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the brush 2- Go away from the tray 3- move towards the green glass on the floor. 4- pick up the green glass from the floor. 5- Place the green cup in the green tray\n\u003c/PRED\u003e","video":"3774172086032888353.mp4"}
+{"uid":"16992127418450120122","text":"\u003ctask:success:discrete:True\u003e\nput the cucumber into the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the cucumber into the tray\n\u003c/PRED\u003e","video":"14539617131907139492.mp4"}
+{"uid":"14267180602976743029","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nOpen the yellow marker tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5021098538759493600.mp4"}
+{"uid":"1076224951250742412","text":"\u003ctask:success:discrete:True\u003e\nDrop the duster in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Drop the duster in the tray\n\u003c/PRED\u003e","video":"14837666298952231776.mp4"}
+{"uid":"10289164182611882006","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16090778611481345565.mp4"}
+{"uid":"170592825437817030","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nLift the brown belt from the floor Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2707493234269318063.mp4"}
+{"uid":"9969416046386769740","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. last 20 steps: 1- Move back from the green tray 2- Move towards the objects on the floor 3- move towards the duster on the floor. 4- move to the green object 5- pick up the green object Q: immediate next step? \u003cPRED\u003eA: Drop the green object in the green tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop the green object in the green tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop the green object in the green tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. last 20 steps: 1- Move back from the green tray 2- Move towards the objects on the floor 3- move towards the duster on the floor. 4- move to the green object 5- pick up the green object Q: next 5 steps? \u003cPRED\u003eA: 1- Drop the green object in the green tray 2- move away from the green tray. 3- move towards the brush on the floor. 4- pick up the duster from the floor. 5- Place the duster into the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrop the green object in the green tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. Q: immediate next step? \u003cPRED\u003eA: Drop the green object in the green tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop the green object in the green tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5058189468006553903.mp4"}
+{"uid":"11575493857461496005","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick the cucumber from the floor\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick the cucumber from the floor Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10181993463082597042.mp4"}
+{"uid":"11778555093565852540","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace a can inside the fridge Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11993551746455326235.mp4"}
+{"uid":"3547282277323494317","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nOpen the carboard drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8637225872827648379.mp4"}
+{"uid":"17499825425337219521","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput chess piece in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10424503269078919184.mp4"}
+{"uid":"8698501992499665217","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move towards the brush on the floor.\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nmove towards the brush on the floor. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12732837671249166846.mp4"}
+{"uid":"14265293148430348375","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: go closer to the green object.\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ngo closer to the green object. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. last 20 steps: 1- Move back from the green tray 2- Move towards the objects on the floor 3- move towards the duster on the floor. Q: immediate next step? \u003cPRED\u003eA: go closer to the green object.\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: go closer to the green object.\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ngo closer to the green object. Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. Q: immediate next step? \u003cPRED\u003eA: go closer to the green object.\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. last 20 steps: 1- Move back from the green tray 2- Move towards the objects on the floor 3- move towards the duster on the floor. Q: next 5 steps? \u003cPRED\u003eA: 1- go closer to the green object. 2- drop the green object in the green tray. 3- move away from the green tray. 4- move towards the brush on the floor. 5- pick up the duster from the floor.\n\u003c/PRED\u003e","video":"18062228767497103831.mp4"}
+{"uid":"13396143274170431202","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput numi box in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16928213514341581239.mp4"}
+{"uid":"6481892140936505642","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. last 20 steps: 1- Move back from the green tray 2- Move towards the objects on the floor 3- move towards the duster on the floor. 4- move to the green object Q: next 5 steps? \u003cPRED\u003eA: 1- pick the cucumber from the floor 2- move away from the green tray. 3- move towards the brush on the floor. 4- pick up the duster from the floor. 5- Place the duster into the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the cucumber from the floor\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the cucumber from the floor Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the cucumber from the floor Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. last 20 steps: 1- Move back from the green tray 2- Move towards the objects on the floor 3- move towards the duster on the floor. 4- move to the green object Q: immediate next step? \u003cPRED\u003eA: pick the cucumber from the floor\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. Q: immediate next step? \u003cPRED\u003eA: pick the cucumber from the floor\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the cucumber from the floor\n\u003c/PRED\u003e","video":"12023280033636800850.mp4"}
+{"uid":"13291268804561112342","text":"\u003ctask:success:discrete:False\u003e\nPlace the green cup in the green tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. last 20 steps: 1- Move back from the green tray 2- Move towards the objects on the floor 3- move towards the duster on the floor. 4- move to the green object 5- pick up the green object 6- drop the green object in the green tray. 7- move away from the green tray. 8- move towards the brush on the floor. 9- pick up the duster from the floor. 10- Place the duster into the tray 11- Move away from the tray 12- Move to the brush on the floor 13- Pick the brush from the floor 14- put the brush into the tray 15- Go away from the tray 16- move towards the green glass on the floor. Q: immediate next step? \u003cPRED\u003eA: Place the green cup in the green tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. Q: immediate next step? \u003cPRED\u003eA: Place the green cup in the green tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the green cup in the green tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the green cup in the green tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the green cup in the green tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. last 20 steps: 1- Move back from the green tray 2- Move towards the objects on the floor 3- move towards the duster on the floor. 4- move to the green object 5- pick up the green object 6- drop the green object in the green tray. 7- move away from the green tray. 8- move towards the brush on the floor. 9- pick up the duster from the floor. 10- Place the duster into the tray 11- Move away from the tray 12- Move to the brush on the floor 13- Pick the brush from the floor 14- put the brush into the tray 15- Go away from the tray 16- move towards the green glass on the floor. Q: next 5 steps? \u003cPRED\u003eA: 1- Place the green cup in the green tray 2- done\n\u003c/PRED\u003e","video":"7818103642928366120.mp4"}
+{"uid":"3417814468093628581","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. last 20 steps: 1- Move back from the green tray 2- Move towards the objects on the floor 3- move towards the duster on the floor. 4- move to the green object 5- pick up the green object 6- drop the green object in the green tray. 7- move away from the green tray. 8- move towards the brush on the floor. 9- pick up the duster from the floor. 10- Place the duster into the tray 11- Move away from the tray 12- Move to the brush on the floor 13- Pick the brush from the floor 14- put the brush into the tray 15- Go away from the tray 16- move towards the green glass on the floor. 17- put the green glass into the tray Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. last 20 steps: 1- Move back from the green tray 2- Move towards the objects on the floor 3- move towards the duster on the floor. 4- move to the green object 5- pick up the green object 6- drop the green object in the green tray. 7- move away from the green tray. 8- move towards the brush on the floor. 9- pick up the duster from the floor. 10- Place the duster into the tray 11- Move away from the tray 12- Move to the brush on the floor 13- Pick the brush from the floor 14- put the brush into the tray 15- Go away from the tray 16- move towards the green glass on the floor. 17- put the green glass into the tray Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the green glass into the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the green glass into the tray\n\u003c/PRED\u003e","video":"14932608461825858251.mp4"}
+{"uid":"8870263778559522224","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Move to the green glass on the floor\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nMove to the green glass on the floor Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1103660004568058470.mp4"}
+{"uid":"8149947825457432080","text":"\u003ctask:success:discrete:True\u003e\npick up the brush. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up the brush.\n\u003c/PRED\u003e","video":"17599194120958342960.mp4"}
+{"uid":"17195957555594560622","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move towards the green glass on the floor.\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nmove towards the green glass on the floor. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9215732222726183969.mp4"}
+{"uid":"4761111756722702728","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick the sponge from the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5725052019623747112.mp4"}
+{"uid":"10865695012834274227","text":"\u003ctask:success:discrete:True\u003e\nMove towards the green tray on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Move towards the green tray on the table\n\u003c/PRED\u003e","video":"13244606328294641841.mp4"}
+{"uid":"17059838018219863068","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. last 20 steps: 1- Move back from the green tray 2- Move towards the objects on the floor 3- move towards the duster on the floor. 4- move to the green object 5- pick up the green object 6- drop the green object in the green tray. 7- move away from the green tray. 8- move towards the brush on the floor. 9- pick up the duster from the floor. 10- Place the duster into the tray Q: immediate next step? \u003cPRED\u003eA: move away from the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. Q: immediate next step? \u003cPRED\u003eA: move away from the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move away from the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move away from the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. last 20 steps: 1- Move back from the green tray 2- Move towards the objects on the floor 3- move towards the duster on the floor. 4- move to the green object 5- pick up the green object 6- drop the green object in the green tray. 7- move away from the green tray. 8- move towards the brush on the floor. 9- pick up the duster from the floor. 10- Place the duster into the tray Q: next 5 steps? \u003cPRED\u003eA: 1- move away from the tray 2- Move to the brush on the floor 3- Pick the brush from the floor 4- put the brush into the tray 5- Go away from the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove away from the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove away from the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1454378954748967562.mp4"}
+{"uid":"1341488904568125132","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the brush into the green tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. last 20 steps: 1- Move back from the green tray 2- Move towards the objects on the floor 3- move towards the duster on the floor. 4- move to the green object 5- pick up the green object 6- drop the green object in the green tray. 7- move away from the green tray. 8- move towards the brush on the floor. 9- pick up the duster from the floor. 10- Place the duster into the tray 11- Move away from the tray 12- Move to the brush on the floor 13- Pick the brush from the floor Q: next 5 steps? \u003cPRED\u003eA: 1- Place the brush into the green tray 2- Go away from the tray 3- move towards the green glass on the floor. 4- pick up the green glass from the floor. 5- Place the green cup in the green tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the brush into the green tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the brush into the green tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. Q: immediate next step? \u003cPRED\u003eA: Place the brush into the green tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the brush into the green tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. last 20 steps: 1- Move back from the green tray 2- Move towards the objects on the floor 3- move towards the duster on the floor. 4- move to the green object 5- pick up the green object 6- drop the green object in the green tray. 7- move away from the green tray. 8- move towards the brush on the floor. 9- pick up the duster from the floor. 10- Place the duster into the tray 11- Move away from the tray 12- Move to the brush on the floor 13- Pick the brush from the floor Q: immediate next step? \u003cPRED\u003eA: Place the brush into the green tray\n\u003c/PRED\u003e","video":"6587218722055464159.mp4"}
+{"uid":"13416745252992261434","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace chair under the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1569178797576718451.mp4"}
+{"uid":"15173053492562034873","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the green glass from the floor.\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the green glass from the floor. Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the green glass from the floor. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the green glass from the floor.\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. last 20 steps: 1- Move back from the green tray 2- Move towards the objects on the floor 3- move towards the duster on the floor. 4- move to the green object 5- pick up the green object 6- drop the green object in the green tray. 7- move away from the green tray. 8- move towards the brush on the floor. 9- pick up the duster from the floor. 10- Place the duster into the tray 11- Move away from the tray 12- Move to the brush on the floor 13- Pick the brush from the floor 14- put the brush into the tray 15- Go away from the tray Q: immediate next step? \u003cPRED\u003eA: pick up the green glass from the floor.\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. Q: immediate next step? \u003cPRED\u003eA: pick up the green glass from the floor.\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. last 20 steps: 1- Move back from the green tray 2- Move towards the objects on the floor 3- move towards the duster on the floor. 4- move to the green object 5- pick up the green object 6- drop the green object in the green tray. 7- move away from the green tray. 8- move towards the brush on the floor. 9- pick up the duster from the floor. 10- Place the duster into the tray 11- Move away from the tray 12- Move to the brush on the floor 13- Pick the brush from the floor 14- put the brush into the tray 15- Go away from the tray Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the green glass from the floor. 2- done\n\u003c/PRED\u003e","video":"5904181422996562243.mp4"}
+{"uid":"17485892962236411283","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the brush into the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the brush into the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17902599277437603853.mp4"}
+{"uid":"6970340373947875541","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Move away from the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nMove away from the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12128302196949104327.mp4"}
+{"uid":"9662869196057422847","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Move the duster upwards\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nMove the duster upwards Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3983467394142431588.mp4"}
+{"uid":"459091081662230035","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. last 20 steps: 1- Move back from the green tray 2- Move towards the objects on the floor 3- move towards the duster on the floor. 4- move to the green object 5- pick up the green object 6- drop the green object in the green tray. 7- move away from the green tray. Q: immediate next step? \u003cPRED\u003eA: pick up the duster from the floor.\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. last 20 steps: 1- Move back from the green tray 2- Move towards the objects on the floor 3- move towards the duster on the floor. 4- move to the green object 5- pick up the green object 6- drop the green object in the green tray. 7- move away from the green tray. Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the duster from the floor. 2- Move away from the tray 3- Move to the brush on the floor 4- Pick the brush from the floor 5- put the brush into the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. Q: immediate next step? \u003cPRED\u003eA: pick up the duster from the floor.\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the duster from the floor. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the duster from the floor.\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the duster from the floor.\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the duster from the floor. Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12503388440009535321.mp4"}
+{"uid":"16122396447453451906","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the brush\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. last 20 steps: 1- Move back from the green tray 2- Move towards the objects on the floor 3- move towards the duster on the floor. 4- move to the green object 5- pick up the green object 6- drop the green object in the green tray. 7- move away from the green tray. 8- move towards the brush on the floor. 9- pick up the duster from the floor. 10- Place the duster into the tray 11- Move away from the tray 12- Move to the brush on the floor Q: immediate next step? \u003cPRED\u003eA: Pick up the brush\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. last 20 steps: 1- Move back from the green tray 2- Move towards the objects on the floor 3- move towards the duster on the floor. 4- move to the green object 5- pick up the green object 6- drop the green object in the green tray. 7- move away from the green tray. 8- move towards the brush on the floor. 9- pick up the duster from the floor. 10- Place the duster into the tray 11- Move away from the tray 12- Move to the brush on the floor Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the brush 2- Go away from the tray 3- move towards the green glass on the floor. 4- pick up the green glass from the floor. 5- Place the green cup in the green tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. Q: immediate next step? \u003cPRED\u003eA: Pick up the brush\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the brush Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the brush Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the brush\n\u003c/PRED\u003e","video":"3569692951119799929.mp4"}
+{"uid":"1273903470554959347","text":"\u003ctask:success:discrete:True\u003e\nTurn to the wall Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Turn to the wall\n\u003c/PRED\u003e","video":"12644568456275169499.mp4"}
+{"uid":"6133207616363060756","text":"\u003ctask:success:discrete:True\u003e\nmove away from the duster. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move away from the duster.\n\u003c/PRED\u003e","video":"9381477450248098919.mp4"}
+{"uid":"5401845233607405818","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace orange candy in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12187901677099774476.mp4"}
+{"uid":"6470753565197438657","text":"\u003ctask:success:discrete:True\u003e\npick up the green glass from the floor. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. last 20 steps: 1- Move back from the green tray 2- Move towards the objects on the floor 3- move towards the duster on the floor. 4- move to the green object 5- pick up the green object 6- drop the green object in the green tray. 7- move away from the green tray. 8- move towards the brush on the floor. 9- pick up the duster from the floor. 10- Place the duster into the tray 11- Move away from the tray 12- Move to the brush on the floor 13- Pick the brush from the floor 14- put the brush into the tray 15- Go away from the tray 16- pick up the green glass from the floor. Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up the green glass from the floor.\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. last 20 steps: 1- Move back from the green tray 2- Move towards the objects on the floor 3- move towards the duster on the floor. 4- move to the green object 5- pick up the green object 6- drop the green object in the green tray. 7- move away from the green tray. 8- move towards the brush on the floor. 9- pick up the duster from the floor. 10- Place the duster into the tray 11- Move away from the tray 12- Move to the brush on the floor 13- Pick the brush from the floor 14- put the brush into the tray 15- Go away from the tray 16- pick up the green glass from the floor. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"2810614943282018233.mp4"}
+{"uid":"9013922002082556973","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nMove to the items on the floor Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. last 20 steps: 1- Move back from the green tray 2- Move towards the objects on the floor 3- move towards the duster on the floor. 4- move to the green object 5- pick up the green object 6- drop the green object in the green tray. Q: immediate next step? \u003cPRED\u003eA: Move to the items on the floor\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move to the items on the floor\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move to the items on the floor\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. Q: immediate next step? \u003cPRED\u003eA: Move to the items on the floor\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove to the items on the floor Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. last 20 steps: 1- Move back from the green tray 2- Move towards the objects on the floor 3- move towards the duster on the floor. 4- move to the green object 5- pick up the green object 6- drop the green object in the green tray. Q: next 5 steps? \u003cPRED\u003eA: 1- Move to the items on the floor 2- move towards the brush on the floor. 3- pick up the duster from the floor. 4- Place the duster into the tray 5- Move away from the tray\n\u003c/PRED\u003e","video":"11311894808392689441.mp4"}
+{"uid":"12062959379240083684","text":"\u003ctask:success:discrete:False\u003e\nPick up the duster from the floor Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the duster from the floor\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. Q: immediate next step? \u003cPRED\u003eA: Pick up the duster from the floor\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the duster from the floor\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the duster from the floor Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. last 20 steps: 1- Move back from the green tray 2- Move towards the objects on the floor 3- move towards the duster on the floor. 4- move to the green object 5- pick up the green object 6- drop the green object in the green tray. 7- move away from the green tray. 8- move towards the brush on the floor. Q: immediate next step? \u003cPRED\u003eA: Pick up the duster from the floor\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. last 20 steps: 1- Move back from the green tray 2- Move towards the objects on the floor 3- move towards the duster on the floor. 4- move to the green object 5- pick up the green object 6- drop the green object in the green tray. 7- move away from the green tray. 8- move towards the brush on the floor. Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the duster from the floor 2- Place the duster into the tray 3- Move away from the tray 4- Move to the brush on the floor 5- Pick the brush from the floor\n\u003c/PRED\u003e","video":"12909428793371401877.mp4"}
+{"uid":"10296748171452030267","text":"\u003ctask:success:discrete:False\u003e\nMove to the objects on the floor Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move to the objects on the floor\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. last 20 steps: 1- Move back from the green tray 2- Move towards the objects on the floor 3- move towards the duster on the floor. 4- move to the green object 5- pick up the green object 6- drop the green object in the green tray. 7- move away from the green tray. 8- move towards the brush on the floor. 9- pick up the duster from the floor. 10- Place the duster into the tray 11- Move away from the tray 12- Move to the brush on the floor 13- Pick the brush from the floor 14- put the brush into the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Move to the objects on the floor 2- pick up the green glass from the floor. 3- Place the green cup in the green tray 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move to the objects on the floor\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. last 20 steps: 1- Move back from the green tray 2- Move towards the objects on the floor 3- move towards the duster on the floor. 4- move to the green object 5- pick up the green object 6- drop the green object in the green tray. 7- move away from the green tray. 8- move towards the brush on the floor. 9- pick up the duster from the floor. 10- Place the duster into the tray 11- Move away from the tray 12- Move to the brush on the floor 13- Pick the brush from the floor 14- put the brush into the tray Q: immediate next step? \u003cPRED\u003eA: Move to the objects on the floor\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. Q: immediate next step? \u003cPRED\u003eA: Move to the objects on the floor\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove to the objects on the floor Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11620895160611091224.mp4"}
+{"uid":"3948041644579182781","text":"\u003ctask:success:discrete:False\u003e\npick up the brush. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the brush. Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the brush.\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. last 20 steps: 1- Move back from the green tray 2- Move towards the objects on the floor 3- move towards the duster on the floor. 4- move to the green object 5- pick up the green object 6- drop the green object in the green tray. 7- move away from the green tray. 8- move towards the brush on the floor. 9- pick up the duster from the floor. 10- Place the duster into the tray 11- Move away from the tray 12- Move to the brush on the floor Q: immediate next step? \u003cPRED\u003eA: pick up the brush.\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. Q: immediate next step? \u003cPRED\u003eA: pick up the brush.\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the brush.\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. last 20 steps: 1- Move back from the green tray 2- Move towards the objects on the floor 3- move towards the duster on the floor. 4- move to the green object 5- pick up the green object 6- drop the green object in the green tray. 7- move away from the green tray. 8- move towards the brush on the floor. 9- pick up the duster from the floor. 10- Place the duster into the tray 11- Move away from the tray 12- Move to the brush on the floor Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the brush. 2- Go away from the tray 3- move towards the green glass on the floor. 4- pick up the green glass from the floor. 5- Place the green cup in the green tray\n\u003c/PRED\u003e","video":"4966306724290791938.mp4"}
+{"uid":"14222551161614735807","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1788846209426058849.mp4"}
+{"uid":"13332891160932578030","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Move to the objects on the floor\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nMove to the objects on the floor Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1918564825860389500.mp4"}
+{"uid":"507492887556999205","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move back from the green tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove back from the green tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move back from the green tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. Q: immediate next step? \u003cPRED\u003eA: Move back from the green tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Move back from the green tray 2- Move towards the objects on the floor 3- move towards the duster on the floor. 4- move to the green object 5- pick up the green object\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove back from the green tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Move back from the green tray\n\u003c/PRED\u003e","video":"9868437333943419183.mp4"}
+{"uid":"16776648771005151802","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the charger on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1090265739859951545.mp4"}
+{"uid":"2417662844618329330","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the packet in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13186870189096576844.mp4"}
+{"uid":"11720753309549260423","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move downwards to the floor\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove downwards to the floor Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move downwards to the floor\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove downwards to the floor Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. last 20 steps: 1- Move back from the green tray 2- Move towards the objects on the floor 3- move towards the duster on the floor. 4- move to the green object 5- pick up the green object 6- drop the green object in the green tray. 7- move away from the green tray. Q: next 5 steps? \u003cPRED\u003eA: 1- Move downwards to the floor 2- pick up the duster from the floor. 3- Place the duster into the tray 4- Move away from the tray 5- Move to the brush on the floor\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. Q: immediate next step? \u003cPRED\u003eA: Move downwards to the floor\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. last 20 steps: 1- Move back from the green tray 2- Move towards the objects on the floor 3- move towards the duster on the floor. 4- move to the green object 5- pick up the green object 6- drop the green object in the green tray. 7- move away from the green tray. Q: immediate next step? \u003cPRED\u003eA: Move downwards to the floor\n\u003c/PRED\u003e","video":"17745220196999382881.mp4"}
+{"uid":"1233139413048995734","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. last 20 steps: 1- Move back from the green tray 2- Move towards the objects on the floor 3- move towards the duster on the floor. 4- move to the green object Q: immediate next step? \u003cPRED\u003eA: pick up the green object\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the green object Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the green object\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the green object\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. Q: immediate next step? \u003cPRED\u003eA: pick up the green object\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the green object Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. last 20 steps: 1- Move back from the green tray 2- Move towards the objects on the floor 3- move towards the duster on the floor. 4- move to the green object Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the green object 2- drop the green object in the green tray. 3- move away from the green tray. 4- move towards the brush on the floor. 5- pick up the duster from the floor.\n\u003c/PRED\u003e","video":"8460893690901163197.mp4"}
+{"uid":"11315755837545742721","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick a white glass from the pile of glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4851920607786653192.mp4"}
+{"uid":"4586524561364775951","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. last 20 steps: 1- Move back from the green tray 2- Move towards the objects on the floor 3- move towards the duster on the floor. 4- move to the green object 5- pick up the green object Q: next 5 steps? \u003cPRED\u003eA: 1- move away from the green tray. 2- move towards the brush on the floor. 3- pick up the duster from the floor. 4- Place the duster into the tray 5- Move away from the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move away from the green tray.\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. last 20 steps: 1- Move back from the green tray 2- Move towards the objects on the floor 3- move towards the duster on the floor. 4- move to the green object 5- pick up the green object Q: immediate next step? \u003cPRED\u003eA: move away from the green tray.\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move away from the green tray.\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. Q: immediate next step? \u003cPRED\u003eA: move away from the green tray.\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove away from the green tray. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove away from the green tray. Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12051589592862849796.mp4"}
+{"uid":"7264687912344418044","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. last 20 steps: 1- Move back from the green tray 2- Move towards the objects on the floor 3- move towards the duster on the floor. 4- move to the green object Q: next 5 steps? \u003cPRED\u003eA: 1- Place the green object in the green tray 2- move away from the green tray. 3- move towards the brush on the floor. 4- pick up the duster from the floor. 5- Place the duster into the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. Q: immediate next step? \u003cPRED\u003eA: Place the green object in the green tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the green object in the green tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the green object in the green tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the green object in the green tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. last 20 steps: 1- Move back from the green tray 2- Move towards the objects on the floor 3- move towards the duster on the floor. 4- move to the green object Q: immediate next step? \u003cPRED\u003eA: Place the green object in the green tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the green object in the green tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12430550655893120381.mp4"}
+{"uid":"7106134026769740382","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nleave that apple in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16722546555125208116.mp4"}
+{"uid":"14624258953248367837","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the green glass into the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. last 20 steps: 1- Move back from the green tray 2- Move towards the objects on the floor 3- move towards the duster on the floor. 4- move to the green object 5- pick up the green object 6- drop the green object in the green tray. 7- move away from the green tray. 8- move towards the brush on the floor. 9- pick up the duster from the floor. 10- Place the duster into the tray 11- Move away from the tray 12- Move to the brush on the floor 13- Pick the brush from the floor 14- put the brush into the tray 15- Go away from the tray 16- move towards the green glass on the floor. Q: next 5 steps? \u003cPRED\u003eA: 1- put the green glass into the tray 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. Q: immediate next step? \u003cPRED\u003eA: put the green glass into the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the green glass into the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the green glass into the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the green glass into the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. last 20 steps: 1- Move back from the green tray 2- Move towards the objects on the floor 3- move towards the duster on the floor. 4- move to the green object 5- pick up the green object 6- drop the green object in the green tray. 7- move away from the green tray. 8- move towards the brush on the floor. 9- pick up the duster from the floor. 10- Place the duster into the tray 11- Move away from the tray 12- Move to the brush on the floor 13- Pick the brush from the floor 14- put the brush into the tray 15- Go away from the tray 16- move towards the green glass on the floor. Q: immediate next step? \u003cPRED\u003eA: put the green glass into the tray\n\u003c/PRED\u003e","video":"12230745838059698397.mp4"}
+{"uid":"14129512323836033331","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nmove away from the brush. Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove away from the brush. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. Q: immediate next step? \u003cPRED\u003eA: move away from the brush.\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move away from the brush.\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. last 20 steps: 1- Move back from the green tray 2- Move towards the objects on the floor 3- move towards the duster on the floor. 4- move to the green object 5- pick up the green object 6- drop the green object in the green tray. 7- move away from the green tray. 8- move towards the brush on the floor. 9- pick up the duster from the floor. 10- Place the duster into the tray 11- Move away from the tray 12- Move to the brush on the floor 13- Pick the brush from the floor 14- put the brush into the tray Q: next 5 steps? \u003cPRED\u003eA: 1- move away from the brush. 2- move towards the green glass on the floor. 3- pick up the green glass from the floor. 4- Place the green cup in the green tray 5- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move away from the brush.\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. last 20 steps: 1- Move back from the green tray 2- Move towards the objects on the floor 3- move towards the duster on the floor. 4- move to the green object 5- pick up the green object 6- drop the green object in the green tray. 7- move away from the green tray. 8- move towards the brush on the floor. 9- pick up the duster from the floor. 10- Place the duster into the tray 11- Move away from the tray 12- Move to the brush on the floor 13- Pick the brush from the floor 14- put the brush into the tray Q: immediate next step? \u003cPRED\u003eA: move away from the brush.\n\u003c/PRED\u003e","video":"12749670672397943195.mp4"}
+{"uid":"17424057981627575666","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack cups on top of existing stack Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3667277002446130109.mp4"}
+{"uid":"18347602380313874982","text":"\u003ctask:success:discrete:False\u003e\nmove away from the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move away from the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove away from the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. last 20 steps: 1- Move back from the green tray 2- Move towards the objects on the floor 3- move towards the duster on the floor. 4- move to the green object 5- pick up the green object 6- drop the green object in the green tray. Q: next 5 steps? \u003cPRED\u003eA: 1- move away from the tray 2- move towards the brush on the floor. 3- pick up the duster from the floor. 4- Place the duster into the tray 5- Move away from the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. last 20 steps: 1- Move back from the green tray 2- Move towards the objects on the floor 3- move towards the duster on the floor. 4- move to the green object 5- pick up the green object 6- drop the green object in the green tray. Q: immediate next step? \u003cPRED\u003eA: move away from the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move away from the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. Q: immediate next step? \u003cPRED\u003eA: move away from the tray\n\u003c/PRED\u003e","video":"8716569582692230905.mp4"}
+{"uid":"3714662634175575326","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop the cucumber into the green tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrop the cucumber into the green tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop the cucumber into the green tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. last 20 steps: 1- Move back from the green tray 2- Move towards the objects on the floor 3- move towards the duster on the floor. 4- move to the green object 5- pick up the green object Q: immediate next step? \u003cPRED\u003eA: Drop the cucumber into the green tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. Q: immediate next step? \u003cPRED\u003eA: Drop the cucumber into the green tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. last 20 steps: 1- Move back from the green tray 2- Move towards the objects on the floor 3- move towards the duster on the floor. 4- move to the green object 5- pick up the green object Q: next 5 steps? \u003cPRED\u003eA: 1- Drop the cucumber into the green tray 2- move away from the green tray. 3- move towards the brush on the floor. 4- pick up the duster from the floor. 5- Place the duster into the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop the cucumber into the green tray\n\u003c/PRED\u003e","video":"14733469757480354267.mp4"}
+{"uid":"1221301307048669415","text":"\u003ctask:success:discrete:False\u003e\npick the green glass from the floor Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. last 20 steps: 1- Move back from the green tray 2- Move towards the objects on the floor 3- move towards the duster on the floor. 4- move to the green object 5- pick up the green object 6- drop the green object in the green tray. 7- move away from the green tray. 8- move towards the brush on the floor. 9- pick up the duster from the floor. 10- Place the duster into the tray 11- Move away from the tray 12- Move to the brush on the floor 13- Pick the brush from the floor 14- put the brush into the tray 15- Go away from the tray 16- move towards the green glass on the floor. Q: immediate next step? \u003cPRED\u003eA: pick the green glass from the floor\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the green glass from the floor\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the green glass from the floor\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. last 20 steps: 1- Move back from the green tray 2- Move towards the objects on the floor 3- move towards the duster on the floor. 4- move to the green object 5- pick up the green object 6- drop the green object in the green tray. 7- move away from the green tray. 8- move towards the brush on the floor. 9- pick up the duster from the floor. 10- Place the duster into the tray 11- Move away from the tray 12- Move to the brush on the floor 13- Pick the brush from the floor 14- put the brush into the tray 15- Go away from the tray 16- move towards the green glass on the floor. Q: next 5 steps? \u003cPRED\u003eA: 1- pick the green glass from the floor 2- Place the green cup in the green tray 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the green glass from the floor Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. Q: immediate next step? \u003cPRED\u003eA: pick the green glass from the floor\n\u003c/PRED\u003e","video":"17566228326322717565.mp4"}
+{"uid":"3689697739606368828","text":"\u003ctask:success:discrete:True\u003e\nPick up the duster from the floor Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Pick up the duster from the floor\n\u003c/PRED\u003e","video":"16657535804471859750.mp4"}
+{"uid":"14425659000604089100","text":"\u003ctask:success:discrete:True\u003e\nPlace the brush in the green tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the brush in the green tray\n\u003c/PRED\u003e","video":"10490981883808392145.mp4"}
+{"uid":"17566280563560870031","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. Q: immediate next step? \u003cPRED\u003eA: Grasp the duster on the floor\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nGrasp the duster on the floor Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. last 20 steps: 1- Move back from the green tray 2- Move towards the objects on the floor 3- move towards the duster on the floor. 4- move to the green object 5- pick up the green object 6- drop the green object in the green tray. 7- move away from the green tray. Q: next 5 steps? \u003cPRED\u003eA: 1- Grasp the duster on the floor 2- Place the duster into the tray 3- Move away from the tray 4- Move to the brush on the floor 5- Pick the brush from the floor\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. last 20 steps: 1- Move back from the green tray 2- Move towards the objects on the floor 3- move towards the duster on the floor. 4- move to the green object 5- pick up the green object 6- drop the green object in the green tray. 7- move away from the green tray. Q: immediate next step? \u003cPRED\u003eA: Grasp the duster on the floor\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Grasp the duster on the floor\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nGrasp the duster on the floor Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Grasp the duster on the floor\n\u003c/PRED\u003e","video":"9713990056361466070.mp4"}
+{"uid":"6973885238789500033","text":"\u003ctask:success:discrete:True\u003e\nPick up the green object from the floor Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Pick up the green object from the floor\n\u003c/PRED\u003e","video":"7747779801984015475.mp4"}
+{"uid":"3832995476314747407","text":"\u003ctask:success:discrete:False\u003e\nMove down to the green glass on the floor Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. last 20 steps: 1- Move back from the green tray 2- Move towards the objects on the floor 3- move towards the duster on the floor. 4- move to the green object 5- pick up the green object 6- drop the green object in the green tray. 7- move away from the green tray. 8- move towards the brush on the floor. 9- pick up the duster from the floor. 10- Place the duster into the tray 11- Move away from the tray 12- Move to the brush on the floor 13- Pick the brush from the floor 14- put the brush into the tray 15- Go away from the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Move down to the green glass on the floor 2- Place the green cup in the green tray 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. Q: immediate next step? \u003cPRED\u003eA: Move down to the green glass on the floor\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove down to the green glass on the floor Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move down to the green glass on the floor\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. last 20 steps: 1- Move back from the green tray 2- Move towards the objects on the floor 3- move towards the duster on the floor. 4- move to the green object 5- pick up the green object 6- drop the green object in the green tray. 7- move away from the green tray. 8- move towards the brush on the floor. 9- pick up the duster from the floor. 10- Place the duster into the tray 11- Move away from the tray 12- Move to the brush on the floor 13- Pick the brush from the floor 14- put the brush into the tray 15- Go away from the tray Q: immediate next step? \u003cPRED\u003eA: Move down to the green glass on the floor\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move down to the green glass on the floor\n\u003c/PRED\u003e","video":"17392749397653314360.mp4"}
+{"uid":"41108314299905855","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove the trolley towards the wall Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"242571163653334256.mp4"}
+{"uid":"13170264689049174231","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15628327083388503253.mp4"}
+{"uid":"7122906183999197705","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. last 20 steps: 1- Move back from the green tray 2- Move towards the objects on the floor 3- move towards the duster on the floor. 4- move to the green object 5- pick up the green object 6- drop the green object in the green tray. 7- move away from the green tray. 8- move towards the brush on the floor. 9- pick up the duster from the floor. 10- Place the duster into the tray 11- Move away from the tray 12- Move to the brush on the floor 13- Pick the brush from the floor 14- put the brush into the tray 15- Go away from the tray 16- move towards the green glass on the floor. 17- pick up the green glass from the floor. Q: next 5 steps? \u003cPRED\u003eA: 1- Drop the green plastic glass in the green tray 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop the green plastic glass in the green tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop the green plastic glass in the green tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. Q: immediate next step? \u003cPRED\u003eA: Drop the green plastic glass in the green tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. last 20 steps: 1- Move back from the green tray 2- Move towards the objects on the floor 3- move towards the duster on the floor. 4- move to the green object 5- pick up the green object 6- drop the green object in the green tray. 7- move away from the green tray. 8- move towards the brush on the floor. 9- pick up the duster from the floor. 10- Place the duster into the tray 11- Move away from the tray 12- Move to the brush on the floor 13- Pick the brush from the floor 14- put the brush into the tray 15- Go away from the tray 16- move towards the green glass on the floor. 17- pick up the green glass from the floor. Q: immediate next step? \u003cPRED\u003eA: Drop the green plastic glass in the green tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop the green plastic glass in the green tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrop the green plastic glass in the green tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11017625622557939962.mp4"}
+{"uid":"2530747767935292495","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move away from the green tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. last 20 steps: 1- Move back from the green tray 2- Move towards the objects on the floor 3- move towards the duster on the floor. 4- move to the green object 5- pick up the green object 6- drop the green object in the green tray. 7- move away from the green tray. 8- move towards the brush on the floor. 9- pick up the duster from the floor. 10- Place the duster into the tray Q: immediate next step? \u003cPRED\u003eA: Move away from the green tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move away from the green tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. Q: immediate next step? \u003cPRED\u003eA: Move away from the green tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove away from the green tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove away from the green tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. last 20 steps: 1- Move back from the green tray 2- Move towards the objects on the floor 3- move towards the duster on the floor. 4- move to the green object 5- pick up the green object 6- drop the green object in the green tray. 7- move away from the green tray. 8- move towards the brush on the floor. 9- pick up the duster from the floor. 10- Place the duster into the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Move away from the green tray 2- Move to the brush on the floor 3- Pick the brush from the floor 4- put the brush into the tray 5- Go away from the tray\n\u003c/PRED\u003e","video":"62440536914427693.mp4"}
+{"uid":"16683695752665264108","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. Q: immediate next step? \u003cPRED\u003eA: move away from the green tray.\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove away from the green tray. Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove away from the green tray. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move away from the green tray.\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- move away from the green tray. 2- move towards the duster on the floor. 3- move to the green object 4- pick up the green object 5- drop the green object in the green tray.\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move away from the green tray.\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: move away from the green tray.\n\u003c/PRED\u003e","video":"11878054380716143922.mp4"}
+{"uid":"10956503457753161183","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the green object in the green tray.\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the green object in the green tray.\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the green object in the green tray. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. Q: immediate next step? \u003cPRED\u003eA: drop the green object in the green tray.\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. last 20 steps: 1- Move back from the green tray 2- Move towards the objects on the floor 3- move towards the duster on the floor. 4- move to the green object 5- pick up the green object Q: next 5 steps? \u003cPRED\u003eA: 1- drop the green object in the green tray. 2- move towards the brush on the floor. 3- pick up the duster from the floor. 4- Place the duster into the tray 5- Move away from the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the green object in the green tray. Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. last 20 steps: 1- Move back from the green tray 2- Move towards the objects on the floor 3- move towards the duster on the floor. 4- move to the green object 5- pick up the green object Q: immediate next step? \u003cPRED\u003eA: drop the green object in the green tray.\n\u003c/PRED\u003e","video":"13698259268626466902.mp4"}
+{"uid":"10755809042074347324","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move away from the duster.\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. last 20 steps: 1- Move back from the green tray 2- Move towards the objects on the floor 3- move towards the duster on the floor. 4- move to the green object 5- pick up the green object 6- drop the green object in the green tray. 7- move away from the green tray. 8- move towards the brush on the floor. 9- pick up the duster from the floor. 10- Place the duster into the tray Q: immediate next step? \u003cPRED\u003eA: move away from the duster.\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove away from the duster. Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. last 20 steps: 1- Move back from the green tray 2- Move towards the objects on the floor 3- move towards the duster on the floor. 4- move to the green object 5- pick up the green object 6- drop the green object in the green tray. 7- move away from the green tray. 8- move towards the brush on the floor. 9- pick up the duster from the floor. 10- Place the duster into the tray Q: next 5 steps? \u003cPRED\u003eA: 1- move away from the duster. 2- Move to the brush on the floor 3- Pick the brush from the floor 4- put the brush into the tray 5- Go away from the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move away from the duster.\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. Q: immediate next step? \u003cPRED\u003eA: move away from the duster.\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove away from the duster. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14999533494933948730.mp4"}
+{"uid":"16840303494502076215","text":"\u003ctask:success:discrete:True\u003e\nPlace the duster into the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the duster into the tray\n\u003c/PRED\u003e","video":"13848370123554849997.mp4"}
+{"uid":"6475235933155677108","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the paper bag on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5540740002782519100.mp4"}
+{"uid":"2989153397776042190","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop the bag on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3762499213797412111.mp4"}
+{"uid":"9252280675153142624","text":"\u003ctask:success:discrete:False\u003e\nmove away from the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- move away from the tray 2- Move towards the objects on the floor 3- move towards the duster on the floor. 4- move to the green object 5- pick up the green object\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. Q: immediate next step? \u003cPRED\u003eA: move away from the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move away from the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items off floor and place into bin. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: move away from the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove away from the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move away from the tray\n\u003c/PRED\u003e","video":"8181477094611347855.mp4"}
+{"uid":"13080485431627318035","text":"\u003ctask:success:discrete:True\u003e\npick up the Chocolate Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up the Chocolate\n\u003c/PRED\u003e","video":"17117759312610768301.mp4"}
+{"uid":"18341583260180832444","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: leave room\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nleave room Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2549121040563006348.mp4"}
+{"uid":"11237685493599436418","text":"\u003ctask:success:discrete:True\u003e\nput blue can in dustbin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put blue can in dustbin\n\u003c/PRED\u003e","video":"14759837799235849143.mp4"}
+{"uid":"1475292545798703207","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Drop the blue cover in the trash\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw the banana peel in the compostables, the can in the recycling, and the cookie wrapper in the landfill bin. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw the banana peel in the compostables, the can in the recycling, and the cookie wrapper in the landfill bin. last 20 steps: 1- Pick the banana peel from the table 2- leave room 3- put banana peel in dustbin 4- Pick up the blue can from the table 5- Exit the room 6- put blue can in dustbin 7- Pick up the blue cover 8- Drop the blue cover in the trash Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw the banana peel in the compostables, the can in the recycling, and the cookie wrapper in the landfill bin. last 20 steps: 1- Pick the banana peel from the table 2- leave room 3- put banana peel in dustbin 4- Pick up the blue can from the table 5- Exit the room 6- put blue can in dustbin 7- Pick up the blue cover 8- Drop the blue cover in the trash Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nDrop the blue cover in the trash Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16254405054519530086.mp4"}
+{"uid":"15062419824933445940","text":"\u003ctask:success:discrete:False\u003e\nPick up the blue can from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the blue can from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw the banana peel in the compostables, the can in the recycling, and the cookie wrapper in the landfill bin. Q: immediate next step? \u003cPRED\u003eA: Pick up the blue can from the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw the banana peel in the compostables, the can in the recycling, and the cookie wrapper in the landfill bin. last 20 steps: 1- Pick the banana peel from the table 2- leave room 3- put banana peel in dustbin Q: immediate next step? \u003cPRED\u003eA: Pick up the blue can from the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the blue can from the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw the banana peel in the compostables, the can in the recycling, and the cookie wrapper in the landfill bin. last 20 steps: 1- Pick the banana peel from the table 2- leave room 3- put banana peel in dustbin Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the blue can from the table 2- Exit the room 3- put blue can in dustbin 4- Pick up the blue cover 5- leave room\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the blue can from the table\n\u003c/PRED\u003e","video":"2268374476194478313.mp4"}
+{"uid":"17781298978377054782","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put banana peel in dustbin\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put banana peel in dustbin\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput banana peel in dustbin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw the banana peel in the compostables, the can in the recycling, and the cookie wrapper in the landfill bin. last 20 steps: 1- Pick the banana peel from the table 2- leave room Q: immediate next step? \u003cPRED\u003eA: put banana peel in dustbin\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw the banana peel in the compostables, the can in the recycling, and the cookie wrapper in the landfill bin. Q: immediate next step? \u003cPRED\u003eA: put banana peel in dustbin\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput banana peel in dustbin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw the banana peel in the compostables, the can in the recycling, and the cookie wrapper in the landfill bin. last 20 steps: 1- Pick the banana peel from the table 2- leave room Q: next 5 steps? \u003cPRED\u003eA: 1- put banana peel in dustbin 2- Pick up the blue can from the table 3- Exit the room 4- put blue can in dustbin 5- Pick up the blue cover\n\u003c/PRED\u003e","video":"9093407069305030369.mp4"}
+{"uid":"2819564331735389700","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop the banana peel in the trash Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop the banana peel in the trash\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw the banana peel in the compostables, the can in the recycling, and the cookie wrapper in the landfill bin. last 20 steps: 1- Pick the banana peel from the table 2- leave room Q: immediate next step? \u003cPRED\u003eA: Drop the banana peel in the trash\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrop the banana peel in the trash Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw the banana peel in the compostables, the can in the recycling, and the cookie wrapper in the landfill bin. Q: immediate next step? \u003cPRED\u003eA: Drop the banana peel in the trash\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw the banana peel in the compostables, the can in the recycling, and the cookie wrapper in the landfill bin. last 20 steps: 1- Pick the banana peel from the table 2- leave room Q: next 5 steps? \u003cPRED\u003eA: 1- Drop the banana peel in the trash 2- Pick up the blue can from the table 3- Exit the room 4- put blue can in dustbin 5- Pick up the blue cover\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop the banana peel in the trash\n\u003c/PRED\u003e","video":"17194214055624733632.mp4"}
+{"uid":"8356054004152608345","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Pick up the blue cover\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPick up the blue cover Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13338367787041906940.mp4"}
+{"uid":"708291029394248534","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nleave room Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw the banana peel in the compostables, the can in the recycling, and the cookie wrapper in the landfill bin. Q: immediate next step? \u003cPRED\u003eA: leave room\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nleave room Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw the banana peel in the compostables, the can in the recycling, and the cookie wrapper in the landfill bin. last 20 steps: 1- Pick the banana peel from the table 2- leave room 3- put banana peel in dustbin 4- Pick up the blue can from the table Q: immediate next step? \u003cPRED\u003eA: leave room\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: leave room\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: leave room\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw the banana peel in the compostables, the can in the recycling, and the cookie wrapper in the landfill bin. last 20 steps: 1- Pick the banana peel from the table 2- leave room 3- put banana peel in dustbin 4- Pick up the blue can from the table Q: next 5 steps? \u003cPRED\u003eA: 1- leave room 2- put blue can in dustbin 3- Pick up the blue cover 4- leave room 5- put Chocolate in dustbin\n\u003c/PRED\u003e","video":"13109346231524378115.mp4"}
+{"uid":"12394194574374922774","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up the spoon Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11047085622721246496.mp4"}
+{"uid":"13846920911667315942","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nHang the bag to the hanger Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14188198268058801741.mp4"}
+{"uid":"4107199645299491444","text":"\u003ctask:success:discrete:False\u003e\nExit the room Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Exit the room\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Exit the room\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nExit the room Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw the banana peel in the compostables, the can in the recycling, and the cookie wrapper in the landfill bin. Q: immediate next step? \u003cPRED\u003eA: Exit the room\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw the banana peel in the compostables, the can in the recycling, and the cookie wrapper in the landfill bin. last 20 steps: 1- Pick the banana peel from the table Q: next 5 steps? \u003cPRED\u003eA: 1- Exit the room 2- put banana peel in dustbin 3- Pick up the blue can from the table 4- Exit the room 5- put blue can in dustbin\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw the banana peel in the compostables, the can in the recycling, and the cookie wrapper in the landfill bin. last 20 steps: 1- Pick the banana peel from the table Q: immediate next step? \u003cPRED\u003eA: Exit the room\n\u003c/PRED\u003e","video":"13051401381550157383.mp4"}
+{"uid":"17459614139759547021","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput pen on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10085503118064181542.mp4"}
+{"uid":"8481994568438474108","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Drop the banana peel in the trash\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nDrop the banana peel in the trash Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7092003565234337987.mp4"}
+{"uid":"9464362514270252970","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace packets in the cotton box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10767402680280504015.mp4"}
+{"uid":"9905116418622939824","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the blue cover\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw the banana peel in the compostables, the can in the recycling, and the cookie wrapper in the landfill bin. Q: immediate next step? \u003cPRED\u003eA: Pick up the blue cover\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the blue cover\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the blue cover Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw the banana peel in the compostables, the can in the recycling, and the cookie wrapper in the landfill bin. last 20 steps: 1- Pick the banana peel from the table 2- leave room 3- put banana peel in dustbin 4- Pick up the blue can from the table 5- Exit the room 6- put blue can in dustbin Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the blue cover 2- leave room 3- put Chocolate in dustbin 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the blue cover Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw the banana peel in the compostables, the can in the recycling, and the cookie wrapper in the landfill bin. last 20 steps: 1- Pick the banana peel from the table 2- leave room 3- put banana peel in dustbin 4- Pick up the blue can from the table 5- Exit the room 6- put blue can in dustbin Q: immediate next step? \u003cPRED\u003eA: Pick up the blue cover\n\u003c/PRED\u003e","video":"9111570089832912032.mp4"}
+{"uid":"12343151455749739079","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the banana on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10651143156554644651.mp4"}
+{"uid":"1810161380688809851","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the Chocolate\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the Chocolate Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw the banana peel in the compostables, the can in the recycling, and the cookie wrapper in the landfill bin. last 20 steps: 1- Pick the banana peel from the table 2- leave room 3- put banana peel in dustbin 4- Pick up the blue can from the table 5- Exit the room 6- put blue can in dustbin Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the Chocolate 2- leave room 3- put Chocolate in dustbin 4- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the Chocolate\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw the banana peel in the compostables, the can in the recycling, and the cookie wrapper in the landfill bin. Q: immediate next step? \u003cPRED\u003eA: pick up the Chocolate\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw the banana peel in the compostables, the can in the recycling, and the cookie wrapper in the landfill bin. last 20 steps: 1- Pick the banana peel from the table 2- leave room 3- put banana peel in dustbin 4- Pick up the blue can from the table 5- Exit the room 6- put blue can in dustbin Q: immediate next step? \u003cPRED\u003eA: pick up the Chocolate\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the Chocolate Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16550080629869160169.mp4"}
+{"uid":"12013244748106384628","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput green packet in stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3500068149474163806.mp4"}
+{"uid":"16231997294165292288","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: throw the banana peel in the compostables, the can in the recycling, and the cookie wrapper in the landfill bin. Q: immediate next step? \u003cPRED\u003eA: Pick the chocolate cover\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw the banana peel in the compostables, the can in the recycling, and the cookie wrapper in the landfill bin. last 20 steps: 1- Pick the banana peel from the table 2- leave room 3- put banana peel in dustbin 4- Pick up the blue can from the table 5- Exit the room 6- put blue can in dustbin Q: next 5 steps? \u003cPRED\u003eA: 1- Pick the chocolate cover 2- leave room 3- put Chocolate in dustbin 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw the banana peel in the compostables, the can in the recycling, and the cookie wrapper in the landfill bin. last 20 steps: 1- Pick the banana peel from the table 2- leave room 3- put banana peel in dustbin 4- Pick up the blue can from the table 5- Exit the room 6- put blue can in dustbin Q: immediate next step? \u003cPRED\u003eA: Pick the chocolate cover\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick the chocolate cover Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick the chocolate cover Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick the chocolate cover\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick the chocolate cover\n\u003c/PRED\u003e","video":"7414688446048601532.mp4"}
+{"uid":"14592263838689322780","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace pen on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8359362434325291912.mp4"}
+{"uid":"4722329470128513072","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: throw the banana peel in the compostables, the can in the recycling, and the cookie wrapper in the landfill bin. Q: immediate next step? \u003cPRED\u003eA: Drop the blue can in the trash\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw the banana peel in the compostables, the can in the recycling, and the cookie wrapper in the landfill bin. last 20 steps: 1- Pick the banana peel from the table 2- leave room 3- put banana peel in dustbin 4- Pick up the blue can from the table 5- Exit the room Q: next 5 steps? \u003cPRED\u003eA: 1- Drop the blue can in the trash 2- Pick up the blue cover 3- leave room 4- put Chocolate in dustbin 5- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop the blue can in the trash\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop the blue can in the trash Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrop the blue can in the trash Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop the blue can in the trash\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw the banana peel in the compostables, the can in the recycling, and the cookie wrapper in the landfill bin. last 20 steps: 1- Pick the banana peel from the table 2- leave room 3- put banana peel in dustbin 4- Pick up the blue can from the table 5- Exit the room Q: immediate next step? \u003cPRED\u003eA: Drop the blue can in the trash\n\u003c/PRED\u003e","video":"7392913423917756925.mp4"}
+{"uid":"7274222140153587831","text":"\u003ctask:success:discrete:False\u003e\nput Chocolate in dustbin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put Chocolate in dustbin\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put Chocolate in dustbin\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput Chocolate in dustbin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw the banana peel in the compostables, the can in the recycling, and the cookie wrapper in the landfill bin. Q: immediate next step? \u003cPRED\u003eA: put Chocolate in dustbin\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw the banana peel in the compostables, the can in the recycling, and the cookie wrapper in the landfill bin. last 20 steps: 1- Pick the banana peel from the table 2- leave room 3- put banana peel in dustbin 4- Pick up the blue can from the table 5- Exit the room 6- put blue can in dustbin 7- Pick up the blue cover 8- leave room Q: immediate next step? \u003cPRED\u003eA: put Chocolate in dustbin\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw the banana peel in the compostables, the can in the recycling, and the cookie wrapper in the landfill bin. last 20 steps: 1- Pick the banana peel from the table 2- leave room 3- put banana peel in dustbin 4- Pick up the blue can from the table 5- Exit the room 6- put blue can in dustbin 7- Pick up the blue cover 8- leave room Q: next 5 steps? \u003cPRED\u003eA: 1- put Chocolate in dustbin 2- done\n\u003c/PRED\u003e","video":"7025295922453861027.mp4"}
+{"uid":"14419075631193415695","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the chocolate cover in the trash bin\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the chocolate cover in the trash bin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw the banana peel in the compostables, the can in the recycling, and the cookie wrapper in the landfill bin. Q: immediate next step? \u003cPRED\u003eA: Put the chocolate cover in the trash bin\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the chocolate cover in the trash bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the chocolate cover in the trash bin\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw the banana peel in the compostables, the can in the recycling, and the cookie wrapper in the landfill bin. last 20 steps: 1- Pick the banana peel from the table 2- leave room 3- put banana peel in dustbin 4- Pick up the blue can from the table 5- Exit the room 6- put blue can in dustbin 7- Pick up the blue cover Q: next 5 steps? \u003cPRED\u003eA: 1- Put the chocolate cover in the trash bin 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw the banana peel in the compostables, the can in the recycling, and the cookie wrapper in the landfill bin. last 20 steps: 1- Pick the banana peel from the table 2- leave room 3- put banana peel in dustbin 4- Pick up the blue can from the table 5- Exit the room 6- put blue can in dustbin 7- Pick up the blue cover Q: immediate next step? \u003cPRED\u003eA: Put the chocolate cover in the trash bin\n\u003c/PRED\u003e","video":"5828196925784922711.mp4"}
+{"uid":"16523452233156928678","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace pistachio nut into glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the stick into the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2727677947104230449.mp4"}
+{"uid":"18319578165087597123","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw the banana peel in the compostables, the can in the recycling, and the cookie wrapper in the landfill bin. last 20 steps: 1- Pick the banana peel from the table 2- leave room 3- put banana peel in dustbin 4- Pick up the blue can from the table 5- Exit the room 6- put blue can in dustbin 7- Pick up the blue cover 8- Put the chocolate cover in the trash bin Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw the banana peel in the compostables, the can in the recycling, and the cookie wrapper in the landfill bin. last 20 steps: 1- Pick the banana peel from the table 2- leave room 3- put banana peel in dustbin 4- Pick up the blue can from the table 5- Exit the room 6- put blue can in dustbin 7- Pick up the blue cover 8- Put the chocolate cover in the trash bin Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw the banana peel in the compostables, the can in the recycling, and the cookie wrapper in the landfill bin. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the chocolate cover in the trash bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the chocolate cover in the trash bin\n\u003c/PRED\u003e","video":"4301766722982775611.mp4"}
+{"uid":"3381741287613149817","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Pick up the banana peel on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPick up the banana peel on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7669093694416957159.mp4"}
+{"uid":"10334891240887984566","text":"\u003ctask:success:discrete:False\u003e\nExit the room Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nExit the room Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw the banana peel in the compostables, the can in the recycling, and the cookie wrapper in the landfill bin. last 20 steps: 1- Pick the banana peel from the table 2- leave room 3- put banana peel in dustbin 4- Pick up the blue can from the table Q: next 5 steps? \u003cPRED\u003eA: 1- Exit the room 2- put blue can in dustbin 3- Pick up the blue cover 4- leave room 5- put Chocolate in dustbin\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw the banana peel in the compostables, the can in the recycling, and the cookie wrapper in the landfill bin. last 20 steps: 1- Pick the banana peel from the table 2- leave room 3- put banana peel in dustbin 4- Pick up the blue can from the table Q: immediate next step? \u003cPRED\u003eA: Exit the room\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw the banana peel in the compostables, the can in the recycling, and the cookie wrapper in the landfill bin. Q: immediate next step? \u003cPRED\u003eA: Exit the room\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Exit the room\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Exit the room\n\u003c/PRED\u003e","video":"8200377925624585338.mp4"}
+{"uid":"3116914343052871060","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the apple in a bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17771872857407681946.mp4"}
+{"uid":"17936748963656922615","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick the sanitizer bottle from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"743831352120170193.mp4"}
+{"uid":"17135823290278590621","text":"\u003ctask:success:discrete:False\u003e\npick up banana peel Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw the banana peel in the compostables, the can in the recycling, and the cookie wrapper in the landfill bin. Q: immediate next step? \u003cPRED\u003eA: pick up banana peel\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up banana peel\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up banana peel\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw the banana peel in the compostables, the can in the recycling, and the cookie wrapper in the landfill bin. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: pick up banana peel\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up banana peel Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw the banana peel in the compostables, the can in the recycling, and the cookie wrapper in the landfill bin. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- pick up banana peel 2- leave room 3- put banana peel in dustbin 4- Pick up the blue can from the table 5- Exit the room\n\u003c/PRED\u003e","video":"5227589090182737618.mp4"}
+{"uid":"14884590458095443327","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nrearrange the packet Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6024096533646257050.mp4"}
+{"uid":"17487886345359430508","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the packets in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1985589833404083886.mp4"}
+{"uid":"2604142495823565311","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put blue can in dustbin\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw the banana peel in the compostables, the can in the recycling, and the cookie wrapper in the landfill bin. last 20 steps: 1- Pick the banana peel from the table 2- leave room 3- put banana peel in dustbin 4- Pick up the blue can from the table 5- Exit the room Q: next 5 steps? \u003cPRED\u003eA: 1- put blue can in dustbin 2- Pick up the blue cover 3- leave room 4- put Chocolate in dustbin 5- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput blue can in dustbin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw the banana peel in the compostables, the can in the recycling, and the cookie wrapper in the landfill bin. Q: immediate next step? \u003cPRED\u003eA: put blue can in dustbin\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw the banana peel in the compostables, the can in the recycling, and the cookie wrapper in the landfill bin. last 20 steps: 1- Pick the banana peel from the table 2- leave room 3- put banana peel in dustbin 4- Pick up the blue can from the table 5- Exit the room Q: immediate next step? \u003cPRED\u003eA: put blue can in dustbin\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put blue can in dustbin\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput blue can in dustbin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14357465107096851332.mp4"}
+{"uid":"15612340039766208263","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nclose the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9240360224791305832.mp4"}
+{"uid":"12912555541793541048","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nopen drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17854733631371465975.mp4"}
+{"uid":"15314768928999335206","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput blues pen in stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5224445814449028351.mp4"}
+{"uid":"14485354577076007947","text":"\u003ctask:success:discrete:False\u003e\nPut the white can in the trash bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the white can in the trash bin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the white can in the trash bin\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw the banana peel in the compostables, the can in the recycling, and the cookie wrapper in the landfill bin. last 20 steps: 1- Pick the banana peel from the table 2- leave room 3- put banana peel in dustbin 4- Pick up the blue can from the table 5- Exit the room Q: next 5 steps? \u003cPRED\u003eA: 1- Put the white can in the trash bin 2- Pick up the blue cover 3- leave room 4- put Chocolate in dustbin 5- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw the banana peel in the compostables, the can in the recycling, and the cookie wrapper in the landfill bin. Q: immediate next step? \u003cPRED\u003eA: Put the white can in the trash bin\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw the banana peel in the compostables, the can in the recycling, and the cookie wrapper in the landfill bin. last 20 steps: 1- Pick the banana peel from the table 2- leave room 3- put banana peel in dustbin 4- Pick up the blue can from the table 5- Exit the room Q: immediate next step? \u003cPRED\u003eA: Put the white can in the trash bin\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the white can in the trash bin\n\u003c/PRED\u003e","video":"6077281597963118310.mp4"}
+{"uid":"18421958915959233230","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the banana peel in the trash bin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the banana peel in the trash bin\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the banana peel in the trash bin\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw the banana peel in the compostables, the can in the recycling, and the cookie wrapper in the landfill bin. Q: immediate next step? \u003cPRED\u003eA: Put the banana peel in the trash bin\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw the banana peel in the compostables, the can in the recycling, and the cookie wrapper in the landfill bin. last 20 steps: 1- Pick the banana peel from the table 2- leave room Q: next 5 steps? \u003cPRED\u003eA: 1- Put the banana peel in the trash bin 2- Pick up the blue can from the table 3- Exit the room 4- put blue can in dustbin 5- Pick up the blue cover\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the banana peel in the trash bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw the banana peel in the compostables, the can in the recycling, and the cookie wrapper in the landfill bin. last 20 steps: 1- Pick the banana peel from the table 2- leave room Q: immediate next step? \u003cPRED\u003eA: Put the banana peel in the trash bin\n\u003c/PRED\u003e","video":"3643689365044417920.mp4"}
+{"uid":"2109601884306861767","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the apple on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4900490716983580792.mp4"}
+{"uid":"12172456149663392014","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the yellow packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11825082640001326501.mp4"}
+{"uid":"15268493514279901035","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick the white can from the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw the banana peel in the compostables, the can in the recycling, and the cookie wrapper in the landfill bin. last 20 steps: 1- Pick the banana peel from the table 2- leave room 3- put banana peel in dustbin Q: immediate next step? \u003cPRED\u003eA: Pick the white can from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick the white can from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick the white can from the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw the banana peel in the compostables, the can in the recycling, and the cookie wrapper in the landfill bin. Q: immediate next step? \u003cPRED\u003eA: Pick the white can from the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick the white can from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw the banana peel in the compostables, the can in the recycling, and the cookie wrapper in the landfill bin. last 20 steps: 1- Pick the banana peel from the table 2- leave room 3- put banana peel in dustbin Q: next 5 steps? \u003cPRED\u003eA: 1- Pick the white can from the table 2- Exit the room 3- put blue can in dustbin 4- Pick up the blue cover 5- leave room\n\u003c/PRED\u003e","video":"5261898750019073985.mp4"}
+{"uid":"5462563052688044086","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw the banana peel in the compostables, the can in the recycling, and the cookie wrapper in the landfill bin. last 20 steps: 1- Pick the banana peel from the table Q: next 5 steps? \u003cPRED\u003eA: 1- leave room 2- put banana peel in dustbin 3- Pick up the blue can from the table 4- Exit the room 5- put blue can in dustbin\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nleave room Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw the banana peel in the compostables, the can in the recycling, and the cookie wrapper in the landfill bin. Q: immediate next step? \u003cPRED\u003eA: leave room\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nleave room Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: leave room\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: leave room\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw the banana peel in the compostables, the can in the recycling, and the cookie wrapper in the landfill bin. last 20 steps: 1- Pick the banana peel from the table Q: immediate next step? \u003cPRED\u003eA: leave room\n\u003c/PRED\u003e","video":"820909716855302396.mp4"}
+{"uid":"9557597010720531658","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the mat right side to the tissue box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12267526738807226037.mp4"}
+{"uid":"14135471828066191080","text":"\u003ctask:success:discrete:True\u003e\nExit the room Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Exit the room\n\u003c/PRED\u003e","video":"4248175292527390922.mp4"}
+{"uid":"11990319484485567813","text":"\u003ctask:success:discrete:True\u003e\nleave room Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: leave room\n\u003c/PRED\u003e","video":"16280865797458478302.mp4"}
+{"uid":"14023093111614950210","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the white can in the trash bin\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the white can in the trash bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3207505733805858141.mp4"}
+{"uid":"17178168160233514478","text":"\u003ctask:success:discrete:True\u003e\nDrop the blue can in the trash Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Drop the blue can in the trash\n\u003c/PRED\u003e","video":"14440655106415521568.mp4"}
+{"uid":"9039875731862107143","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17835651928169549138.mp4"}
+{"uid":"15002385935813251901","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\npick up blue can Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw the banana peel in the compostables, the can in the recycling, and the cookie wrapper in the landfill bin. Q: immediate next step? \u003cPRED\u003eA: pick up blue can\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw the banana peel in the compostables, the can in the recycling, and the cookie wrapper in the landfill bin. last 20 steps: 1- Pick the banana peel from the table 2- leave room 3- put banana peel in dustbin Q: next 5 steps? \u003cPRED\u003eA: 1- pick up blue can 2- Exit the room 3- put blue can in dustbin 4- Pick up the blue cover 5- leave room\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up blue can\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up blue can\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw the banana peel in the compostables, the can in the recycling, and the cookie wrapper in the landfill bin. last 20 steps: 1- Pick the banana peel from the table 2- leave room 3- put banana peel in dustbin Q: immediate next step? \u003cPRED\u003eA: pick up blue can\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up blue can Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14268730545747563159.mp4"}
+{"uid":"12993201197799391961","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put banana peel in dustbin\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput banana peel in dustbin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1765120329982858012.mp4"}
+{"uid":"11892654953729741495","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput blue pen on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14300478323402728178.mp4"}
+{"uid":"11368428241342925191","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the packet into the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2849234689728054446.mp4"}
+{"uid":"1843528984081620509","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: leave room\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nleave room Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2188835680841008798.mp4"}
+{"uid":"9580835977845613175","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the banana peel in the trash bin\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the banana peel in the trash bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"690580078697207677.mp4"}
+{"uid":"4734299697128107861","text":"\u003ctask:success:discrete:True\u003e\nExit the room Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Exit the room\n\u003c/PRED\u003e","video":"7909379207372065317.mp4"}
+{"uid":"17351898128502104128","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the suger packet in glass vessel Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10956322409334833278.mp4"}
+{"uid":"2863227871141298209","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPick the banana peel from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw the banana peel in the compostables, the can in the recycling, and the cookie wrapper in the landfill bin. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Pick up the banana peel on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick the banana peel from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the banana peel on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the banana peel on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw the banana peel in the compostables, the can in the recycling, and the cookie wrapper in the landfill bin. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the banana peel on the table 2- put banana peel in dustbin 3- Pick up the blue can from the table 4- Exit the room 5- put blue can in dustbin\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw the banana peel in the compostables, the can in the recycling, and the cookie wrapper in the landfill bin. Q: immediate next step? \u003cPRED\u003eA: Pick the banana peel from the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw the banana peel in the compostables, the can in the recycling, and the cookie wrapper in the landfill bin. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Pick the banana peel from the table 2- leave room 3- put banana peel in dustbin 4- Pick up the blue can from the table 5- Exit the room\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick the banana peel from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the banana peel on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick the banana peel from the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw the banana peel in the compostables, the can in the recycling, and the cookie wrapper in the landfill bin. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Pick the banana peel from the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw the banana peel in the compostables, the can in the recycling, and the cookie wrapper in the landfill bin. Q: immediate next step? \u003cPRED\u003eA: Pick up the banana peel on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the banana peel on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17608122706643270455.mp4"}
+{"uid":"168663319240463738","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw the banana peel in the compostables, the can in the recycling, and the cookie wrapper in the landfill bin. last 20 steps: 1- Pick the banana peel from the table 2- leave room 3- put banana peel in dustbin 4- Pick up the blue can from the table 5- Exit the room 6- put blue can in dustbin 7- Pick up the blue cover Q: immediate next step? \u003cPRED\u003eA: Drop the blue cover in the trash\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw the banana peel in the compostables, the can in the recycling, and the cookie wrapper in the landfill bin. Q: immediate next step? \u003cPRED\u003eA: Drop the blue cover in the trash\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop the blue cover in the trash Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop the blue cover in the trash\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrop the blue cover in the trash Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop the blue cover in the trash\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw the banana peel in the compostables, the can in the recycling, and the cookie wrapper in the landfill bin. last 20 steps: 1- Pick the banana peel from the table 2- leave room 3- put banana peel in dustbin 4- Pick up the blue can from the table 5- Exit the room 6- put blue can in dustbin 7- Pick up the blue cover Q: next 5 steps? \u003cPRED\u003eA: 1- Drop the blue cover in the trash 2- done\n\u003c/PRED\u003e","video":"11830480755110683930.mp4"}
+{"uid":"17080706284107762921","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: leave room\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw the banana peel in the compostables, the can in the recycling, and the cookie wrapper in the landfill bin. last 20 steps: 1- Pick the banana peel from the table 2- leave room 3- put banana peel in dustbin 4- Pick up the blue can from the table 5- Exit the room 6- put blue can in dustbin 7- Pick up the blue cover Q: immediate next step? \u003cPRED\u003eA: leave room\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw the banana peel in the compostables, the can in the recycling, and the cookie wrapper in the landfill bin. last 20 steps: 1- Pick the banana peel from the table 2- leave room 3- put banana peel in dustbin 4- Pick up the blue can from the table 5- Exit the room 6- put blue can in dustbin 7- Pick up the blue cover Q: next 5 steps? \u003cPRED\u003eA: 1- leave room 2- put Chocolate in dustbin 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw the banana peel in the compostables, the can in the recycling, and the cookie wrapper in the landfill bin. Q: immediate next step? \u003cPRED\u003eA: leave room\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: leave room\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nleave room Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nleave room Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15679624365503613702.mp4"}
+{"uid":"10841621071982484438","text":"\u003ctask:success:discrete:True\u003e\nPick the chocolate cover Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Pick the chocolate cover\n\u003c/PRED\u003e","video":"11229866444087876372.mp4"}
+{"uid":"5256456110008799409","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the cold brew can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove the cans from the rack. last 20 steps: 1- place the cold brew can on the table 2- place the cold brew can on the table 3- place the cold brew can on the table 4- place the cold brew can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the cold brew can on the table 2- place the cold brew can on the table 3- place the cold brew can on the table 4- place the cold brew can on the table 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the cold brew can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: place the cold brew can on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove the cans from the rack. last 20 steps: 1- place the cold brew can on the table 2- place the cold brew can on the table 3- place the cold brew can on the table 4- place the cold brew can on the table Q: immediate next step? \u003cPRED\u003eA: place the cold brew can on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the cold brew can on the table\n\u003c/PRED\u003e","video":"14888023943387380977.mp4"}
+{"uid":"937986073372775909","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput pistachio in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14138210808947049128.mp4"}
+{"uid":"1687863254434394394","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput pen in holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"713615254021429401.mp4"}
+{"uid":"7964118720103796628","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the can on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: Put the can on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove the cans from the rack. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Put the can on the table 2- place the cold brew can on the table 3- place the cold brew can on the table 4- place the cold brew can on the table 5- place the cold brew can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove the cans from the rack. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Put the can on the table\n\u003c/PRED\u003e","video":"6410206080320540493.mp4"}
+{"uid":"3058133270720690851","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove the cans from the rack. last 20 steps: 1- place the cold brew can on the table 2- place the cold brew can on the table 3- place the cold brew can on the table 4- place the cold brew can on the table 5- place the cold brew can on the table 6- place the cold brew can on the table Q: immediate next step? \u003cPRED\u003eA: place the cold brew can on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the cold brew can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the cold brew can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: place the cold brew can on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the cold brew can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove the cans from the rack. last 20 steps: 1- place the cold brew can on the table 2- place the cold brew can on the table 3- place the cold brew can on the table 4- place the cold brew can on the table 5- place the cold brew can on the table 6- place the cold brew can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the cold brew can on the table 2- place the cold brew can on the table 3- done\n\u003c/PRED\u003e","video":"5378392696695364858.mp4"}
+{"uid":"13353202506356482068","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: Put the can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove the cans from the rack. last 20 steps: 1- place the cold brew can on the table 2- place the cold brew can on the table 3- place the cold brew can on the table 4- place the cold brew can on the table 5- place the cold brew can on the table Q: immediate next step? \u003cPRED\u003eA: Put the can on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the can on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove the cans from the rack. last 20 steps: 1- place the cold brew can on the table 2- place the cold brew can on the table 3- place the cold brew can on the table 4- place the cold brew can on the table 5- place the cold brew can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the can on the table 2- place the cold brew can on the table 3- place the cold brew can on the table 4- done\n\u003c/PRED\u003e","video":"13326856628480273185.mp4"}
+{"uid":"10721622560936787197","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the toy on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2125515560425737639.mp4"}
+{"uid":"3146402032699624632","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the fork on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5658339559536648338.mp4"}
+{"uid":"18242986945010499073","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put blue can on table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput blue can on table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5544734759702258186.mp4"}
+{"uid":"7230358811156467623","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put blue can on table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove the cans from the rack. last 20 steps: 1- place the cold brew can on the table 2- place the cold brew can on the table 3- place the cold brew can on the table 4- place the cold brew can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put blue can on table 2- place the cold brew can on the table 3- place the cold brew can on the table 4- place the cold brew can on the table 5- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove the cans from the rack. last 20 steps: 1- place the cold brew can on the table 2- place the cold brew can on the table 3- place the cold brew can on the table 4- place the cold brew can on the table Q: immediate next step? \u003cPRED\u003eA: put blue can on table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: put blue can on table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput blue can on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put blue can on table\n\u003c/PRED\u003e","video":"6109513434843864219.mp4"}
+{"uid":"13560869570342112174","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput orange packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8846171490260886576.mp4"}
+{"uid":"5493970135749863343","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the cold brew can on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the cold brew can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10196950476452277155.mp4"}
+{"uid":"12869094292683522435","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove the cans from the rack. last 20 steps: 1- place the cold brew can on the table 2- place the cold brew can on the table 3- place the cold brew can on the table 4- place the cold brew can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the can on the table 2- place the cold brew can on the table 3- place the cold brew can on the table 4- place the cold brew can on the table 5- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: Put the can on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove the cans from the rack. last 20 steps: 1- place the cold brew can on the table 2- place the cold brew can on the table 3- place the cold brew can on the table 4- place the cold brew can on the table Q: immediate next step? \u003cPRED\u003eA: Put the can on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the can on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8459414103874503807.mp4"}
+{"uid":"11836803117311602576","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut 5 candy in a bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8890857561782976639.mp4"}
+{"uid":"88015615565553343","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the cold brew can on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the cold brew can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12371489998291168995.mp4"}
+{"uid":"12482713025709275812","text":"\u003ctask:success:discrete:True\u003e\nput blue can on table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put blue can on table\n\u003c/PRED\u003e","video":"3674463906484678053.mp4"}
+{"uid":"1193962588380535364","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put blue can on table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput blue can on table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put blue can on table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput blue can on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: put blue can on table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove the cans from the rack. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put blue can on table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove the cans from the rack. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put blue can on table 2- place the cold brew can on the table 3- place the cold brew can on the table 4- place the cold brew can on the table 5- place the cold brew can on the table\n\u003c/PRED\u003e","video":"14375681669233353885.mp4"}
+{"uid":"4243258396046735942","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put blue can on table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove the cans from the rack. last 20 steps: 1- place the cold brew can on the table 2- place the cold brew can on the table Q: immediate next step? \u003cPRED\u003eA: put blue can on table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput blue can on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: put blue can on table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put blue can on table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove the cans from the rack. last 20 steps: 1- place the cold brew can on the table 2- place the cold brew can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put blue can on table 2- place the cold brew can on the table 3- place the cold brew can on the table 4- place the cold brew can on the table 5- place the cold brew can on the table\n\u003c/PRED\u003e","video":"4807652303814405423.mp4"}
+{"uid":"608426617937167155","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the cold brew can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the cold brew can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove the cans from the rack. last 20 steps: 1- place the cold brew can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the cold brew can on the table 2- place the cold brew can on the table 3- place the cold brew can on the table 4- place the cold brew can on the table 5- place the cold brew can on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: place the cold brew can on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the cold brew can on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the cold brew can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove the cans from the rack. last 20 steps: 1- place the cold brew can on the table Q: immediate next step? \u003cPRED\u003eA: place the cold brew can on the table\n\u003c/PRED\u003e","video":"17845779263477956342.mp4"}
+{"uid":"17458196799671588475","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove towards the room Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17411905981291138293.mp4"}
+{"uid":"11962445398986460262","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput pebble in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12947236268138175767.mp4"}
+{"uid":"13191991127923453168","text":"\u003ctask:success:discrete:False\u003e\nput blue can on table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput blue can on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: put blue can on table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove the cans from the rack. last 20 steps: 1- place the cold brew can on the table 2- place the cold brew can on the table 3- place the cold brew can on the table 4- place the cold brew can on the table 5- place the cold brew can on the table 6- place the cold brew can on the table 7- place the cold brew can on the table Q: immediate next step? \u003cPRED\u003eA: put blue can on table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put blue can on table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove the cans from the rack. last 20 steps: 1- place the cold brew can on the table 2- place the cold brew can on the table 3- place the cold brew can on the table 4- place the cold brew can on the table 5- place the cold brew can on the table 6- place the cold brew can on the table 7- place the cold brew can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put blue can on table 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put blue can on table\n\u003c/PRED\u003e","video":"11530013358339768006.mp4"}
+{"uid":"6859490143906617617","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the cold brew can on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: place the cold brew can on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove the cans from the rack. last 20 steps: 1- place the cold brew can on the table 2- place the cold brew can on the table 3- place the cold brew can on the table Q: immediate next step? \u003cPRED\u003eA: place the cold brew can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove the cans from the rack. last 20 steps: 1- place the cold brew can on the table 2- place the cold brew can on the table 3- place the cold brew can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the cold brew can on the table 2- place the cold brew can on the table 3- place the cold brew can on the table 4- place the cold brew can on the table 5- place the cold brew can on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the cold brew can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the cold brew can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5245910931710154380.mp4"}
+{"uid":"12892539473793546484","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove the cans from the rack. last 20 steps: 1- place the cold brew can on the table 2- place the cold brew can on the table Q: immediate next step? \u003cPRED\u003eA: place the cold brew can on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the cold brew can on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the cold brew can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove the cans from the rack. last 20 steps: 1- place the cold brew can on the table 2- place the cold brew can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the cold brew can on the table 2- place the cold brew can on the table 3- place the cold brew can on the table 4- place the cold brew can on the table 5- place the cold brew can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the cold brew can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: place the cold brew can on the table\n\u003c/PRED\u003e","video":"6587528273998193394.mp4"}
+{"uid":"2670575883767026262","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2663615280069488666.mp4"}
+{"uid":"12332875799280903712","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput green marker in black box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10585925239658986298.mp4"}
+{"uid":"14645213255021610649","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the cold brew can on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove the cans from the rack. last 20 steps: 1- place the cold brew can on the table 2- place the cold brew can on the table 3- place the cold brew can on the table 4- place the cold brew can on the table 5- place the cold brew can on the table 6- place the cold brew can on the table 7- place the cold brew can on the table Q: immediate next step? \u003cPRED\u003eA: place the cold brew can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the cold brew can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the cold brew can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the cold brew can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove the cans from the rack. last 20 steps: 1- place the cold brew can on the table 2- place the cold brew can on the table 3- place the cold brew can on the table 4- place the cold brew can on the table 5- place the cold brew can on the table 6- place the cold brew can on the table 7- place the cold brew can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the cold brew can on the table 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: place the cold brew can on the table\n\u003c/PRED\u003e","video":"18101363478009342066.mp4"}
+{"uid":"11526919487798310230","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10856288597594157043.mp4"}
+{"uid":"7626345541766127688","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove the cans from the rack. last 20 steps: 1- place the cold brew can on the table 2- place the cold brew can on the table 3- place the cold brew can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the can on the table 2- place the cold brew can on the table 3- place the cold brew can on the table 4- place the cold brew can on the table 5- place the cold brew can on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove the cans from the rack. last 20 steps: 1- place the cold brew can on the table 2- place the cold brew can on the table 3- place the cold brew can on the table Q: immediate next step? \u003cPRED\u003eA: Put the can on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: Put the can on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the can on the table\n\u003c/PRED\u003e","video":"9279965970378408066.mp4"}
+{"uid":"16552606642028801700","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the packet into the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13879338830469527255.mp4"}
+{"uid":"13076548337730356398","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nunstack the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8710446884930038393.mp4"}
+{"uid":"3165775549805006293","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the star shape object in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14746484729786802110.mp4"}
+{"uid":"11217230095369814503","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the can on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12486695550844767311.mp4"}
+{"uid":"12996247026542262956","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove the cans from the rack. last 20 steps: 1- place the cold brew can on the table 2- place the cold brew can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the can on the table 2- place the cold brew can on the table 3- place the cold brew can on the table 4- place the cold brew can on the table 5- place the cold brew can on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the can on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the can on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove the cans from the rack. last 20 steps: 1- place the cold brew can on the table 2- place the cold brew can on the table Q: immediate next step? \u003cPRED\u003eA: Put the can on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: Put the can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9242759030084651856.mp4"}
+{"uid":"17592131777039097520","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nRelease the red bowl in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7833525674012539633.mp4"}
+{"uid":"6290777490939477966","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the can on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove the cans from the rack. last 20 steps: 1- place the cold brew can on the table 2- place the cold brew can on the table 3- place the cold brew can on the table 4- place the cold brew can on the table 5- place the cold brew can on the table 6- place the cold brew can on the table 7- place the cold brew can on the table Q: immediate next step? \u003cPRED\u003eA: Put the can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove the cans from the rack. last 20 steps: 1- place the cold brew can on the table 2- place the cold brew can on the table 3- place the cold brew can on the table 4- place the cold brew can on the table 5- place the cold brew can on the table 6- place the cold brew can on the table 7- place the cold brew can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the can on the table 2- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: Put the can on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the can on the table\n\u003c/PRED\u003e","video":"17545140696414906846.mp4"}
+{"uid":"15111682053599282269","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove close to the left table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14376149076308230978.mp4"}
+{"uid":"4365098499540779206","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput ball toy on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5608986154639048276.mp4"}
+{"uid":"2500168377063505367","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove the cans from the rack. last 20 steps: 1- place the cold brew can on the table Q: immediate next step? \u003cPRED\u003eA: Put the can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: Put the can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove the cans from the rack. last 20 steps: 1- place the cold brew can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the can on the table 2- place the cold brew can on the table 3- place the cold brew can on the table 4- place the cold brew can on the table 5- place the cold brew can on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the can on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the can on the table\n\u003c/PRED\u003e","video":"12662904229244559275.mp4"}
+{"uid":"1913013073237674413","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput orange in white bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9259481019758584660.mp4"}
+{"uid":"8529456364869036997","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the banana in tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6737159824611895534.mp4"}
+{"uid":"16273696851429774842","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput candy in tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16156867609146829305.mp4"}
+{"uid":"11930659086020009986","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove the cans from the rack. last 20 steps: 1- place the cold brew can on the table 2- place the cold brew can on the table 3- place the cold brew can on the table 4- place the cold brew can on the table 5- place the cold brew can on the table Q: immediate next step? \u003cPRED\u003eA: place the cold brew can on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the cold brew can on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: place the cold brew can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove the cans from the rack. last 20 steps: 1- place the cold brew can on the table 2- place the cold brew can on the table 3- place the cold brew can on the table 4- place the cold brew can on the table 5- place the cold brew can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the cold brew can on the table 2- place the cold brew can on the table 3- place the cold brew can on the table 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the cold brew can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the cold brew can on the table\n\u003c/PRED\u003e","video":"16001737381235644746.mp4"}
+{"uid":"10700233291358823721","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the can on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove the cans from the rack. last 20 steps: 1- place the cold brew can on the table 2- place the cold brew can on the table 3- place the cold brew can on the table 4- place the cold brew can on the table 5- place the cold brew can on the table 6- place the cold brew can on the table Q: immediate next step? \u003cPRED\u003eA: Put the can on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: Put the can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove the cans from the rack. last 20 steps: 1- place the cold brew can on the table 2- place the cold brew can on the table 3- place the cold brew can on the table 4- place the cold brew can on the table 5- place the cold brew can on the table 6- place the cold brew can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the can on the table 2- place the cold brew can on the table 3- done\n\u003c/PRED\u003e","video":"10299996324171268528.mp4"}
+{"uid":"5785961215173780275","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput some knifes in right glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10682236949928930106.mp4"}
+{"uid":"965731570857123796","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the yellow sugar packet into the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4804917826380517377.mp4"}
+{"uid":"2254847007046160207","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: put blue can on table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove the cans from the rack. last 20 steps: 1- place the cold brew can on the table Q: immediate next step? \u003cPRED\u003eA: put blue can on table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put blue can on table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput blue can on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put blue can on table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput blue can on table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove the cans from the rack. last 20 steps: 1- place the cold brew can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put blue can on table 2- place the cold brew can on the table 3- place the cold brew can on the table 4- place the cold brew can on the table 5- place the cold brew can on the table\n\u003c/PRED\u003e","video":"4798184349875992439.mp4"}
+{"uid":"8762403194197103278","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put blue can on table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove the cans from the rack. last 20 steps: 1- place the cold brew can on the table 2- place the cold brew can on the table 3- place the cold brew can on the table Q: immediate next step? \u003cPRED\u003eA: put blue can on table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove the cans from the rack. last 20 steps: 1- place the cold brew can on the table 2- place the cold brew can on the table 3- place the cold brew can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put blue can on table 2- place the cold brew can on the table 3- place the cold brew can on the table 4- place the cold brew can on the table 5- place the cold brew can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput blue can on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: put blue can on table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put blue can on table\n\u003c/PRED\u003e","video":"13960551222137990506.mp4"}
+{"uid":"17050762641371449050","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: put blue can on table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput blue can on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put blue can on table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove the cans from the rack. last 20 steps: 1- place the cold brew can on the table 2- place the cold brew can on the table 3- place the cold brew can on the table 4- place the cold brew can on the table 5- place the cold brew can on the table Q: immediate next step? \u003cPRED\u003eA: put blue can on table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put blue can on table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove the cans from the rack. last 20 steps: 1- place the cold brew can on the table 2- place the cold brew can on the table 3- place the cold brew can on the table 4- place the cold brew can on the table 5- place the cold brew can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put blue can on table 2- place the cold brew can on the table 3- place the cold brew can on the table 4- done\n\u003c/PRED\u003e","video":"10192753262015482326.mp4"}
+{"uid":"3529038815486808350","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18433416113996420234.mp4"}
+{"uid":"17631834975793804035","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the cold brew can on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: place the cold brew can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the cold brew can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the cold brew can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the cold brew can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove the cans from the rack. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place the cold brew can on the table 2- place the cold brew can on the table 3- place the cold brew can on the table 4- place the cold brew can on the table 5- place the cold brew can on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove the cans from the rack. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place the cold brew can on the table\n\u003c/PRED\u003e","video":"2441169421950008842.mp4"}
+{"uid":"5413304087929839594","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: put blue can on table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put blue can on table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove the cans from the rack. last 20 steps: 1- place the cold brew can on the table 2- place the cold brew can on the table 3- place the cold brew can on the table 4- place the cold brew can on the table 5- place the cold brew can on the table 6- place the cold brew can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put blue can on table 2- place the cold brew can on the table 3- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put blue can on table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput blue can on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove the cans from the rack. last 20 steps: 1- place the cold brew can on the table 2- place the cold brew can on the table 3- place the cold brew can on the table 4- place the cold brew can on the table 5- place the cold brew can on the table 6- place the cold brew can on the table Q: immediate next step? \u003cPRED\u003eA: put blue can on table\n\u003c/PRED\u003e","video":"18199758197631088452.mp4"}
+{"uid":"2783631195523641634","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the can on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9524218157399991866.mp4"}
+{"uid":"4524405754584649098","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the white packet into the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"454013758212847928.mp4"}
+{"uid":"6484286512710757654","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the orange in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the orange in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16822405789521373795.mp4"}
+{"uid":"13563066576228243517","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the black packet in the right bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2711872394398688376.mp4"}
+{"uid":"17777321282269465278","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove the billiard triangle rack to the left Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3515926145512036921.mp4"}
+{"uid":"9705588343085229486","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick the indoor plant from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11265378595496781432.mp4"}
+{"uid":"7843607940418379729","text":"\u003ctask:success:discrete:False\u003e\nopen the first aid box door Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Open the first aid box, grab a roll of gauze and a pair of scissors and take them to the office suppies desk. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- open the first aid box door 2- put white packet in the tray 3- put scissors in the tray 4- place the tray on the table 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nopen the first aid box door Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Open the first aid box, grab a roll of gauze and a pair of scissors and take them to the office suppies desk Q: immediate next step? \u003cPRED\u003eA: open the first aid box door\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open the first aid box door\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Open the first aid box, grab a roll of gauze and a pair of scissors and take them to the office suppies desk. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: open the first aid box door\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open the first aid box door\n\u003c/PRED\u003e","video":"1441204113536785102.mp4"}
+{"uid":"15183963531304709057","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput pen on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2705045293644030926.mp4"}
+{"uid":"14630576920682259961","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8440022908998545950.mp4"}
+{"uid":"17839476254447808421","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put pear in a bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the top drawer put all the fruits in the bowl and close the top drawer. last 20 steps: 1- Open the cardboard drawer 2- Place the orange in the bowl 3- Place the orange in the bowl 4- Place the banana in the bowl 5- Place the yellow pear in the bowl 6- Place the orange in the bowl 7- Place the banana in the bowl 8- Place the orange in the bowl 9- Place the banana in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put pear in a bowl 2- Place the orange in the bowl 3- Close the cardboard drawer 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the top drawer put all the fruits in the bowl and close the top drawer. last 20 steps: 1- Open the cardboard drawer 2- Place the orange in the bowl 3- Place the orange in the bowl 4- Place the banana in the bowl 5- Place the yellow pear in the bowl 6- Place the orange in the bowl 7- Place the banana in the bowl 8- Place the orange in the bowl 9- Place the banana in the bowl Q: immediate next step? \u003cPRED\u003eA: Put pear in a bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut pear in a bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the top drawer put all the fruits in the bowl and close the top drawer. Q: immediate next step? \u003cPRED\u003eA: Put pear in a bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut pear in a bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put pear in a bowl\n\u003c/PRED\u003e","video":"5665671035819190321.mp4"}
+{"uid":"1894064840788031189","text":"\u003ctask:success:discrete:False\u003e\nPut orange in a bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the top drawer put all the fruits in the bowl and close the top drawer. last 20 steps: 1- Open the cardboard drawer 2- Place the orange in the bowl 3- Place the orange in the bowl 4- Place the banana in the bowl 5- Place the yellow pear in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put orange in a bowl 2- Place the banana in the bowl 3- Place the orange in the bowl 4- Place the banana in the bowl 5- Place the yellow pear in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the top drawer put all the fruits in the bowl and close the top drawer. last 20 steps: 1- Open the cardboard drawer 2- Place the orange in the bowl 3- Place the orange in the bowl 4- Place the banana in the bowl 5- Place the yellow pear in the bowl Q: immediate next step? \u003cPRED\u003eA: Put orange in a bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put orange in a bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut orange in a bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put orange in a bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the top drawer put all the fruits in the bowl and close the top drawer. Q: immediate next step? \u003cPRED\u003eA: Put orange in a bowl\n\u003c/PRED\u003e","video":"16277044278182912495.mp4"}
+{"uid":"14158870425562808690","text":"\u003ctask:success:discrete:False\u003e\nPut the banana in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the banana in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the top drawer put all the fruits in the bowl and close the top drawer. last 20 steps: 1- Open the cardboard drawer 2- Place the orange in the bowl 3- Place the orange in the bowl Q: immediate next step? \u003cPRED\u003eA: Put the banana in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the top drawer put all the fruits in the bowl and close the top drawer. Q: immediate next step? \u003cPRED\u003eA: Put the banana in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the banana in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the top drawer put all the fruits in the bowl and close the top drawer. last 20 steps: 1- Open the cardboard drawer 2- Place the orange in the bowl 3- Place the orange in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put the banana in the bowl 2- Place the yellow pear in the bowl 3- Place the orange in the bowl 4- Place the banana in the bowl 5- Place the orange in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the banana in the bowl\n\u003c/PRED\u003e","video":"1686658334398787021.mp4"}
+{"uid":"7907421643159223840","text":"\u003ctask:success:discrete:False\u003e\nplace the scissor in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Open the first aid box, grab a roll of gauze and a pair of scissors and take them to the office suppies desk. last 20 steps: 1- open the first aid box 2- put white packet in the tray Q: immediate next step? \u003cPRED\u003eA: place the scissor in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the scissor in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Open the first aid box, grab a roll of gauze and a pair of scissors and take them to the office suppies desk. last 20 steps: 1- open the first aid box 2- put white packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place the scissor in the tray 2- place the tray on the table 3- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the scissor in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Open the first aid box, grab a roll of gauze and a pair of scissors and take them to the office suppies desk Q: immediate next step? \u003cPRED\u003eA: place the scissor in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the scissor in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4029601750919486741.mp4"}
+{"uid":"12288559027874924883","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the packet on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15441591301632069780.mp4"}
+{"uid":"15208095378689225039","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Open the cardboard drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nOpen the cardboard drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10942954785713754375.mp4"}
+{"uid":"1923573187525457655","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace apple in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3309109775814468244.mp4"}
+{"uid":"11642919245825483512","text":"\u003ctask:success:discrete:False\u003e\nopen the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nopen the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the top drawer put all the fruits in the bowl and close the top drawer. Q: immediate next step? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the top drawer put all the fruits in the bowl and close the top drawer. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- open the drawer 2- Place the orange in the bowl 3- Place the orange in the bowl 4- Place the banana in the bowl 5- Place the yellow pear in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the top drawer put all the fruits in the bowl and close the top drawer. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e","video":"13778369900687647714.mp4"}
+{"uid":"8011577032501263833","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the packet in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3223056692919222331.mp4"}
+{"uid":"9384313137518937378","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the top drawer put all the fruits in the bowl and close the top drawer. last 20 steps: 1- Open the cardboard drawer 2- Place the orange in the bowl 3- Place the orange in the bowl 4- Place the banana in the bowl 5- Place the yellow pear in the bowl 6- Place the orange in the bowl 7- Place the banana in the bowl 8- Place the orange in the bowl Q: immediate next step? \u003cPRED\u003eA: Put banana in a bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the top drawer put all the fruits in the bowl and close the top drawer. last 20 steps: 1- Open the cardboard drawer 2- Place the orange in the bowl 3- Place the orange in the bowl 4- Place the banana in the bowl 5- Place the yellow pear in the bowl 6- Place the orange in the bowl 7- Place the banana in the bowl 8- Place the orange in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put banana in a bowl 2- Place the yellow pear in the bowl 3- Place the orange in the bowl 4- Close the cardboard drawer 5- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the top drawer put all the fruits in the bowl and close the top drawer. Q: immediate next step? \u003cPRED\u003eA: Put banana in a bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put banana in a bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put banana in a bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut banana in a bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut banana in a bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13587557236251975653.mp4"}
+{"uid":"1841409341086720844","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the banana in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17715672649328117008.mp4"}
+{"uid":"7378504063002270105","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the top drawer put all the fruits in the bowl and close the top drawer. last 20 steps: 1- Open the cardboard drawer 2- Place the orange in the bowl 3- Place the orange in the bowl Q: immediate next step? \u003cPRED\u003eA: put banana in a bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put banana in a bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the top drawer put all the fruits in the bowl and close the top drawer. Q: immediate next step? \u003cPRED\u003eA: put banana in a bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput banana in a bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput banana in a bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put banana in a bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the top drawer put all the fruits in the bowl and close the top drawer. last 20 steps: 1- Open the cardboard drawer 2- Place the orange in the bowl 3- Place the orange in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put banana in a bowl 2- Place the yellow pear in the bowl 3- Place the orange in the bowl 4- Place the banana in the bowl 5- Place the orange in the bowl\n\u003c/PRED\u003e","video":"5072895601490477358.mp4"}
+{"uid":"10708049583277123039","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the smaller packet in the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15752516800270013126.mp4"}
+{"uid":"3823756215427087371","text":"\u003ctask:success:discrete:False\u003e\nPut orange in a bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the top drawer put all the fruits in the bowl and close the top drawer. Q: immediate next step? \u003cPRED\u003eA: Put orange in a bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put orange in a bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the top drawer put all the fruits in the bowl and close the top drawer. last 20 steps: 1- Open the cardboard drawer 2- Place the orange in the bowl 3- Place the orange in the bowl 4- Place the banana in the bowl 5- Place the yellow pear in the bowl 6- Place the orange in the bowl 7- Place the banana in the bowl 8- Place the orange in the bowl 9- Place the banana in the bowl 10- Place the yellow pear in the bowl Q: immediate next step? \u003cPRED\u003eA: Put orange in a bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut orange in a bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put orange in a bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the top drawer put all the fruits in the bowl and close the top drawer. last 20 steps: 1- Open the cardboard drawer 2- Place the orange in the bowl 3- Place the orange in the bowl 4- Place the banana in the bowl 5- Place the yellow pear in the bowl 6- Place the orange in the bowl 7- Place the banana in the bowl 8- Place the orange in the bowl 9- Place the banana in the bowl 10- Place the yellow pear in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put orange in a bowl 2- Close the cardboard drawer 3- done\n\u003c/PRED\u003e","video":"2614407089834665732.mp4"}
+{"uid":"10766742184089826772","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: open the top drawer put all the fruits in the bowl and close the top drawer. Q: immediate next step? \u003cPRED\u003eA: Put orange in a bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut orange in a bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put orange in a bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut orange in a bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the top drawer put all the fruits in the bowl and close the top drawer. last 20 steps: 1- Open the cardboard drawer 2- Place the orange in the bowl 3- Place the orange in the bowl 4- Place the banana in the bowl 5- Place the yellow pear in the bowl 6- Place the orange in the bowl 7- Place the banana in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put orange in a bowl 2- Place the banana in the bowl 3- Place the yellow pear in the bowl 4- Place the orange in the bowl 5- Close the cardboard drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the top drawer put all the fruits in the bowl and close the top drawer. last 20 steps: 1- Open the cardboard drawer 2- Place the orange in the bowl 3- Place the orange in the bowl 4- Place the banana in the bowl 5- Place the yellow pear in the bowl 6- Place the orange in the bowl 7- Place the banana in the bowl Q: immediate next step? \u003cPRED\u003eA: Put orange in a bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put orange in a bowl\n\u003c/PRED\u003e","video":"18081007004939886223.mp4"}
+{"uid":"12028766756925643833","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: open the top drawer put all the fruits in the bowl and close the top drawer. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Close drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the top drawer put all the fruits in the bowl and close the top drawer. last 20 steps: 1- Open the cardboard drawer 2- Place the orange in the bowl 3- Place the orange in the bowl 4- Place the banana in the bowl 5- Place the yellow pear in the bowl 6- Place the orange in the bowl 7- Place the banana in the bowl 8- Place the orange in the bowl 9- Place the banana in the bowl 10- Place the yellow pear in the bowl 11- Place the orange in the bowl 12- Close drawer Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nClose drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the top drawer put all the fruits in the bowl and close the top drawer. last 20 steps: 1- Open the cardboard drawer 2- Place the orange in the bowl 3- Place the orange in the bowl 4- Place the banana in the bowl 5- Place the yellow pear in the bowl 6- Place the orange in the bowl 7- Place the banana in the bowl 8- Place the orange in the bowl 9- Place the banana in the bowl 10- Place the yellow pear in the bowl 11- Place the orange in the bowl 12- Close drawer Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"6803340061096984450.mp4"}
+{"uid":"14635324886246284614","text":"\u003ctask:success:discrete:True\u003e\nopen first aid box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: open first aid box\n\u003c/PRED\u003e","video":"17858449903144135365.mp4"}
+{"uid":"7802915252911880533","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the scissor in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the scissor in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7618212163478265899.mp4"}
+{"uid":"3540761941482900557","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the black cable in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1292326545438805417.mp4"}
+{"uid":"1386736932143926620","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the banana in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the banana in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the top drawer put all the fruits in the bowl and close the top drawer. last 20 steps: 1- Open the cardboard drawer 2- Place the orange in the bowl 3- Place the orange in the bowl 4- Place the banana in the bowl 5- Place the yellow pear in the bowl 6- Place the orange in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Place the banana in the bowl 2- Place the orange in the bowl 3- Place the banana in the bowl 4- Place the yellow pear in the bowl 5- Place the orange in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the banana in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the top drawer put all the fruits in the bowl and close the top drawer. Q: immediate next step? \u003cPRED\u003eA: Place the banana in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the top drawer put all the fruits in the bowl and close the top drawer. last 20 steps: 1- Open the cardboard drawer 2- Place the orange in the bowl 3- Place the orange in the bowl 4- Place the banana in the bowl 5- Place the yellow pear in the bowl 6- Place the orange in the bowl Q: immediate next step? \u003cPRED\u003eA: Place the banana in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the banana in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9807267849456233459.mp4"}
+{"uid":"4516560668537234198","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put white packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Open the first aid box, grab a roll of gauze and a pair of scissors and take them to the office suppies desk. last 20 steps: 1- open the first aid box Q: immediate next step? \u003cPRED\u003eA: put white packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put white packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Open the first aid box, grab a roll of gauze and a pair of scissors and take them to the office suppies desk Q: immediate next step? \u003cPRED\u003eA: put white packet in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput white packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Open the first aid box, grab a roll of gauze and a pair of scissors and take them to the office suppies desk. last 20 steps: 1- open the first aid box Q: next 5 steps? \u003cPRED\u003eA: 1- put white packet in the tray 2- put scissors in the tray 3- place the tray on the table 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput white packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6540088320357201815.mp4"}
+{"uid":"12847320285738237385","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace fork in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1454077489601280749.mp4"}
+{"uid":"6116140369632817231","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: open the first aid box door\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nopen the first aid box door Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9652119852935139043.mp4"}
+{"uid":"16315880225539006570","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the tray on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the tray on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Open the first aid box, grab a roll of gauze and a pair of scissors and take them to the office suppies desk. last 20 steps: 1- open the first aid box 2- put white packet in the tray 3- put scissors in the tray Q: immediate next step? \u003cPRED\u003eA: place the tray on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Open the first aid box, grab a roll of gauze and a pair of scissors and take them to the office suppies desk. last 20 steps: 1- open the first aid box 2- put white packet in the tray 3- put scissors in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place the tray on the table 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the tray on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Open the first aid box, grab a roll of gauze and a pair of scissors and take them to the office suppies desk Q: immediate next step? \u003cPRED\u003eA: place the tray on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the tray on the table\n\u003c/PRED\u003e","video":"14134361393180266850.mp4"}
+{"uid":"9035114094775341978","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: open the top drawer put all the fruits in the bowl and close the top drawer. Q: immediate next step? \u003cPRED\u003eA: Close drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the top drawer put all the fruits in the bowl and close the top drawer. last 20 steps: 1- Open the cardboard drawer 2- Place the orange in the bowl 3- Place the orange in the bowl 4- Place the banana in the bowl 5- Place the yellow pear in the bowl 6- Place the orange in the bowl 7- Place the banana in the bowl 8- Place the orange in the bowl 9- Place the banana in the bowl 10- Place the yellow pear in the bowl 11- Place the orange in the bowl Q: immediate next step? \u003cPRED\u003eA: Close drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Close drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nClose drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nClose drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Close drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the top drawer put all the fruits in the bowl and close the top drawer. last 20 steps: 1- Open the cardboard drawer 2- Place the orange in the bowl 3- Place the orange in the bowl 4- Place the banana in the bowl 5- Place the yellow pear in the bowl 6- Place the orange in the bowl 7- Place the banana in the bowl 8- Place the orange in the bowl 9- Place the banana in the bowl 10- Place the yellow pear in the bowl 11- Place the orange in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Close drawer 2- done\n\u003c/PRED\u003e","video":"15007288794323336756.mp4"}
+{"uid":"14211765747066663222","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput scissors in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put scissors in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Open the first aid box, grab a roll of gauze and a pair of scissors and take them to the office suppies desk. last 20 steps: 1- open the first aid box 2- put white packet in the tray Q: immediate next step? \u003cPRED\u003eA: put scissors in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Open the first aid box, grab a roll of gauze and a pair of scissors and take them to the office suppies desk Q: immediate next step? \u003cPRED\u003eA: put scissors in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Open the first aid box, grab a roll of gauze and a pair of scissors and take them to the office suppies desk. last 20 steps: 1- open the first aid box 2- put white packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put scissors in the tray 2- place the tray on the table 3- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put scissors in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput scissors in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15441460224986470822.mp4"}
+{"uid":"5760499581078439952","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the top drawer put all the fruits in the bowl and close the top drawer. last 20 steps: 1- Open the cardboard drawer 2- Place the orange in the bowl 3- Place the orange in the bowl 4- Place the banana in the bowl 5- Place the yellow pear in the bowl 6- Place the orange in the bowl 7- Place the banana in the bowl 8- Place the orange in the bowl 9- Place the banana in the bowl 10- Place the yellow pear in the bowl 11- Place the orange in the bowl Q: immediate next step? \u003cPRED\u003eA: Close the cardboard drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Close the cardboard drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nClose the cardboard drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nClose the cardboard drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Close the cardboard drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the top drawer put all the fruits in the bowl and close the top drawer. last 20 steps: 1- Open the cardboard drawer 2- Place the orange in the bowl 3- Place the orange in the bowl 4- Place the banana in the bowl 5- Place the yellow pear in the bowl 6- Place the orange in the bowl 7- Place the banana in the bowl 8- Place the orange in the bowl 9- Place the banana in the bowl 10- Place the yellow pear in the bowl 11- Place the orange in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Close the cardboard drawer 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the top drawer put all the fruits in the bowl and close the top drawer. Q: immediate next step? \u003cPRED\u003eA: Close the cardboard drawer\n\u003c/PRED\u003e","video":"7486041894562542740.mp4"}
+{"uid":"9238293915672477527","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the orange in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the top drawer put all the fruits in the bowl and close the top drawer. last 20 steps: 1- Open the cardboard drawer 2- Place the orange in the bowl Q: immediate next step? \u003cPRED\u003eA: Place the orange in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the top drawer put all the fruits in the bowl and close the top drawer. last 20 steps: 1- Open the cardboard drawer 2- Place the orange in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Place the orange in the bowl 2- Place the banana in the bowl 3- Place the yellow pear in the bowl 4- Place the orange in the bowl 5- Place the banana in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the orange in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the orange in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the top drawer put all the fruits in the bowl and close the top drawer. Q: immediate next step? \u003cPRED\u003eA: Place the orange in the bowl\n\u003c/PRED\u003e","video":"14658330076868313125.mp4"}
+{"uid":"3828222220960842653","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the scissor into the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Open the first aid box, grab a roll of gauze and a pair of scissors and take them to the office suppies desk Q: immediate next step? \u003cPRED\u003eA: put the scissor into the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the scissor into the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Open the first aid box, grab a roll of gauze and a pair of scissors and take them to the office suppies desk. last 20 steps: 1- open the first aid box 2- put white packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put the scissor into the box 2- place the tray on the table 3- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the scissor into the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Open the first aid box, grab a roll of gauze and a pair of scissors and take them to the office suppies desk. last 20 steps: 1- open the first aid box 2- put white packet in the tray Q: immediate next step? \u003cPRED\u003eA: put the scissor into the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the scissor into the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3910138781401306104.mp4"}
+{"uid":"8468438679835368626","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Open the first aid box, grab a roll of gauze and a pair of scissors and take them to the office suppies desk. last 20 steps: 1- open the first aid box 2- put white packet in the tray 3- put scissors in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put the box on the table 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Open the first aid box, grab a roll of gauze and a pair of scissors and take them to the office suppies desk Q: immediate next step? \u003cPRED\u003eA: put the box on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the box on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the box on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Open the first aid box, grab a roll of gauze and a pair of scissors and take them to the office suppies desk. last 20 steps: 1- open the first aid box 2- put white packet in the tray 3- put scissors in the tray Q: immediate next step? \u003cPRED\u003eA: put the box on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the box on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the box on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7628373234938278515.mp4"}
+{"uid":"12027630095362053548","text":"\u003ctask:success:discrete:True\u003e\nopen the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e","video":"17402333939877293389.mp4"}
+{"uid":"11864019722543191765","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput pistachios in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8864973077822111198.mp4"}
+{"uid":"6470936554523551223","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput blue chip packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10974710472774876500.mp4"}
+{"uid":"13512070019598244701","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pistachio nut into the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4063299256957276800.mp4"}
+{"uid":"15581151277554760690","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput fork in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15677076551989166495.mp4"}
+{"uid":"753859019496762258","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Open the first aid box, grab a roll of gauze and a pair of scissors and take them to the office suppies desk Q: immediate next step? \u003cPRED\u003eA: place the tray on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the tray on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the tray on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the tray on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the tray on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Open the first aid box, grab a roll of gauze and a pair of scissors and take them to the office suppies desk. last 20 steps: 1- open the first aid box 2- put white packet in the tray 3- put scissors in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place the tray on the table 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Open the first aid box, grab a roll of gauze and a pair of scissors and take them to the office suppies desk. last 20 steps: 1- open the first aid box 2- put white packet in the tray 3- put scissors in the tray Q: immediate next step? \u003cPRED\u003eA: place the tray on the table\n\u003c/PRED\u003e","video":"15341035620779195791.mp4"}
+{"uid":"8335330937892754910","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the orange in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the orange in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the top drawer put all the fruits in the bowl and close the top drawer. Q: immediate next step? \u003cPRED\u003eA: Place the orange in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the orange in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the top drawer put all the fruits in the bowl and close the top drawer. last 20 steps: 1- Open the cardboard drawer 2- Place the orange in the bowl 3- Place the orange in the bowl 4- Place the banana in the bowl 5- Place the yellow pear in the bowl 6- Place the orange in the bowl 7- Place the banana in the bowl Q: immediate next step? \u003cPRED\u003eA: Place the orange in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the top drawer put all the fruits in the bowl and close the top drawer. last 20 steps: 1- Open the cardboard drawer 2- Place the orange in the bowl 3- Place the orange in the bowl 4- Place the banana in the bowl 5- Place the yellow pear in the bowl 6- Place the orange in the bowl 7- Place the banana in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Place the orange in the bowl 2- Place the banana in the bowl 3- Place the yellow pear in the bowl 4- Place the orange in the bowl 5- Close the cardboard drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the orange in the bowl\n\u003c/PRED\u003e","video":"3103081826039303882.mp4"}
+{"uid":"13710807234427227525","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Open the first aid box, grab a roll of gauze and a pair of scissors and take them to the office suppies desk. last 20 steps: 1- open the first aid box 2- put white packet in the tray 3- put scissors in the tray 4- put the box on the table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the box on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Open the first aid box, grab a roll of gauze and a pair of scissors and take them to the office suppies desk Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the box on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Open the first aid box, grab a roll of gauze and a pair of scissors and take them to the office suppies desk. last 20 steps: 1- open the first aid box 2- put white packet in the tray 3- put scissors in the tray 4- put the box on the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"16545359330899710304.mp4"}
+{"uid":"1906312425158197886","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop pen in a pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10719705155498426687.mp4"}
+{"uid":"7463879646698509917","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the white packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"447397861824899354.mp4"}
+{"uid":"8003671935882621624","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: open the top drawer put all the fruits in the bowl and close the top drawer. Q: immediate next step? \u003cPRED\u003eA: Place the banana in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the top drawer put all the fruits in the bowl and close the top drawer. last 20 steps: 1- Open the cardboard drawer 2- Place the orange in the bowl 3- Place the orange in the bowl 4- Place the banana in the bowl 5- Place the yellow pear in the bowl 6- Place the orange in the bowl 7- Place the banana in the bowl 8- Place the orange in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Place the banana in the bowl 2- Place the yellow pear in the bowl 3- Place the orange in the bowl 4- Close the cardboard drawer 5- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the top drawer put all the fruits in the bowl and close the top drawer. last 20 steps: 1- Open the cardboard drawer 2- Place the orange in the bowl 3- Place the orange in the bowl 4- Place the banana in the bowl 5- Place the yellow pear in the bowl 6- Place the orange in the bowl 7- Place the banana in the bowl 8- Place the orange in the bowl Q: immediate next step? \u003cPRED\u003eA: Place the banana in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the banana in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the banana in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the banana in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the banana in the bowl\n\u003c/PRED\u003e","video":"1731515996601748766.mp4"}
+{"uid":"5290246957114902209","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put banana in a bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the top drawer put all the fruits in the bowl and close the top drawer. last 20 steps: 1- Open the cardboard drawer 2- Place the orange in the bowl 3- Place the orange in the bowl 4- Place the banana in the bowl 5- Place the yellow pear in the bowl 6- Place the orange in the bowl Q: immediate next step? \u003cPRED\u003eA: Put banana in a bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the top drawer put all the fruits in the bowl and close the top drawer. last 20 steps: 1- Open the cardboard drawer 2- Place the orange in the bowl 3- Place the orange in the bowl 4- Place the banana in the bowl 5- Place the yellow pear in the bowl 6- Place the orange in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put banana in a bowl 2- Place the orange in the bowl 3- Place the banana in the bowl 4- Place the yellow pear in the bowl 5- Place the orange in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut banana in a bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put banana in a bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut banana in a bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the top drawer put all the fruits in the bowl and close the top drawer. Q: immediate next step? \u003cPRED\u003eA: Put banana in a bowl\n\u003c/PRED\u003e","video":"7914137074799455657.mp4"}
+{"uid":"1148401347236958652","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the top drawer put all the fruits in the bowl and close the top drawer. last 20 steps: 1- Open the cardboard drawer 2- Place the orange in the bowl 3- Place the orange in the bowl 4- Place the banana in the bowl 5- Place the yellow pear in the bowl 6- Place the orange in the bowl 7- Place the banana in the bowl 8- Place the orange in the bowl 9- Place the banana in the bowl 10- Place the yellow pear in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Place the orange in the bowl 2- Close the cardboard drawer 3- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the orange in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the orange in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the top drawer put all the fruits in the bowl and close the top drawer. last 20 steps: 1- Open the cardboard drawer 2- Place the orange in the bowl 3- Place the orange in the bowl 4- Place the banana in the bowl 5- Place the yellow pear in the bowl 6- Place the orange in the bowl 7- Place the banana in the bowl 8- Place the orange in the bowl 9- Place the banana in the bowl 10- Place the yellow pear in the bowl Q: immediate next step? \u003cPRED\u003eA: Place the orange in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the top drawer put all the fruits in the bowl and close the top drawer. Q: immediate next step? \u003cPRED\u003eA: Place the orange in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the orange in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the orange in the bowl\n\u003c/PRED\u003e","video":"750718379849381326.mp4"}
+{"uid":"13821050561557884838","text":"\u003ctask:success:discrete:False\u003e\nPut the orange in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the top drawer put all the fruits in the bowl and close the top drawer. last 20 steps: 1- Open the cardboard drawer Q: next 5 steps? \u003cPRED\u003eA: 1- Put the orange in the bowl 2- Place the orange in the bowl 3- Place the banana in the bowl 4- Place the yellow pear in the bowl 5- Place the orange in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the orange in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the top drawer put all the fruits in the bowl and close the top drawer. last 20 steps: 1- Open the cardboard drawer Q: immediate next step? \u003cPRED\u003eA: Put the orange in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the top drawer put all the fruits in the bowl and close the top drawer. Q: immediate next step? \u003cPRED\u003eA: Put the orange in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the orange in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the orange in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5046602766067767329.mp4"}
+{"uid":"16131068805442482085","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Open the first aid box, grab a roll of gauze and a pair of scissors and take them to the office suppies desk. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- open first aid box 2- put white packet in the tray 3- put scissors in the tray 4- place the tray on the table 5- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open first aid box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Open the first aid box, grab a roll of gauze and a pair of scissors and take them to the office suppies desk. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: open first aid box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Open the first aid box, grab a roll of gauze and a pair of scissors and take them to the office suppies desk Q: immediate next step? \u003cPRED\u003eA: open first aid box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nopen first aid box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open first aid box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nopen first aid box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11414880471920573768.mp4"}
+{"uid":"17694286672172537989","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the top drawer put all the fruits in the bowl and close the top drawer. last 20 steps: 1- Open the cardboard drawer 2- Place the orange in the bowl 3- Place the orange in the bowl 4- Place the banana in the bowl 5- Place the yellow pear in the bowl 6- Place the orange in the bowl 7- Place the banana in the bowl 8- Place the orange in the bowl 9- Place the banana in the bowl 10- Place the yellow pear in the bowl Q: immediate next step? \u003cPRED\u003eA: Put the orange in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the orange in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the orange in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the orange in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the orange in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the top drawer put all the fruits in the bowl and close the top drawer. Q: immediate next step? \u003cPRED\u003eA: Put the orange in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the top drawer put all the fruits in the bowl and close the top drawer. last 20 steps: 1- Open the cardboard drawer 2- Place the orange in the bowl 3- Place the orange in the bowl 4- Place the banana in the bowl 5- Place the yellow pear in the bowl 6- Place the orange in the bowl 7- Place the banana in the bowl 8- Place the orange in the bowl 9- Place the banana in the bowl 10- Place the yellow pear in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put the orange in the bowl 2- Close the cardboard drawer 3- done\n\u003c/PRED\u003e","video":"11451769700050022185.mp4"}
+{"uid":"13331584322472191837","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the top drawer put all the fruits in the bowl and close the top drawer. last 20 steps: 1- Open the cardboard drawer 2- Place the orange in the bowl 3- Place the orange in the bowl 4- Place the banana in the bowl 5- Place the yellow pear in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Place the orange in the bowl 2- Place the banana in the bowl 3- Place the orange in the bowl 4- Place the banana in the bowl 5- Place the yellow pear in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the orange in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the orange in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the orange in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the top drawer put all the fruits in the bowl and close the top drawer. last 20 steps: 1- Open the cardboard drawer 2- Place the orange in the bowl 3- Place the orange in the bowl 4- Place the banana in the bowl 5- Place the yellow pear in the bowl Q: immediate next step? \u003cPRED\u003eA: Place the orange in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the top drawer put all the fruits in the bowl and close the top drawer. Q: immediate next step? \u003cPRED\u003eA: Place the orange in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the orange in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12670635767653172586.mp4"}
+{"uid":"1658988418512329684","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut orange in a bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut orange in a bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the top drawer put all the fruits in the bowl and close the top drawer. Q: immediate next step? \u003cPRED\u003eA: Put orange in a bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the top drawer put all the fruits in the bowl and close the top drawer. last 20 steps: 1- Open the cardboard drawer 2- Place the orange in the bowl Q: immediate next step? \u003cPRED\u003eA: Put orange in a bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the top drawer put all the fruits in the bowl and close the top drawer. last 20 steps: 1- Open the cardboard drawer 2- Place the orange in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put orange in a bowl 2- Place the banana in the bowl 3- Place the yellow pear in the bowl 4- Place the orange in the bowl 5- Place the banana in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put orange in a bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put orange in a bowl\n\u003c/PRED\u003e","video":"7079181762582447540.mp4"}
+{"uid":"140653228332337694","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the tray on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the tray on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Open the first aid box, grab a roll of gauze and a pair of scissors and take them to the office suppies desk Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Open the first aid box, grab a roll of gauze and a pair of scissors and take them to the office suppies desk. last 20 steps: 1- open the first aid box 2- put white packet in the tray 3- put scissors in the tray 4- place the tray on the table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Open the first aid box, grab a roll of gauze and a pair of scissors and take them to the office suppies desk. last 20 steps: 1- open the first aid box 2- put white packet in the tray 3- put scissors in the tray 4- place the tray on the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"13146836456685061944.mp4"}
+{"uid":"9798057675077426512","text":"\u003ctask:success:discrete:False\u003e\nput the bandage into the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the bandage into the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Open the first aid box, grab a roll of gauze and a pair of scissors and take them to the office suppies desk. last 20 steps: 1- open the first aid box Q: immediate next step? \u003cPRED\u003eA: put the bandage into the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Open the first aid box, grab a roll of gauze and a pair of scissors and take them to the office suppies desk Q: immediate next step? \u003cPRED\u003eA: put the bandage into the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the bandage into the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the bandage into the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Open the first aid box, grab a roll of gauze and a pair of scissors and take them to the office suppies desk. last 20 steps: 1- open the first aid box Q: next 5 steps? \u003cPRED\u003eA: 1- put the bandage into the box 2- put scissors in the tray 3- place the tray on the table 4- done\n\u003c/PRED\u003e","video":"975093030989769895.mp4"}
+{"uid":"4935172327005649052","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the brown packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6863639103191810315.mp4"}
+{"uid":"10538699272499559752","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the candy into the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6807675323943854991.mp4"}
+{"uid":"7292981002061480174","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the orange on the left table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4141007019092627651.mp4"}
+{"uid":"5218474483288361456","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the banana in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the banana in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11349218099871334558.mp4"}
+{"uid":"2617731570344365804","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nenter in the room Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2993721119356017120.mp4"}
+{"uid":"12608871678351060951","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace black object in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9275259583833827123.mp4"}
+{"uid":"6452818903069838796","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove to the left Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6978932764985363482.mp4"}
+{"uid":"8801544629076398540","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick the coconut tetra pack Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10922377708134470.mp4"}
+{"uid":"3278755112783210903","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Open the first aid box, grab a roll of gauze and a pair of scissors and take them to the office suppies desk. last 20 steps: 1- open the first aid box Q: immediate next step? \u003cPRED\u003eA: place the white packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Open the first aid box, grab a roll of gauze and a pair of scissors and take them to the office suppies desk. last 20 steps: 1- open the first aid box Q: next 5 steps? \u003cPRED\u003eA: 1- place the white packet in the tray 2- put scissors in the tray 3- place the tray on the table 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the white packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the white packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the white packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Open the first aid box, grab a roll of gauze and a pair of scissors and take them to the office suppies desk Q: immediate next step? \u003cPRED\u003eA: place the white packet in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the white packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7444818714593425701.mp4"}
+{"uid":"5692999536391117911","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Open drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the top drawer put all the fruits in the bowl and close the top drawer. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Open drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the top drawer put all the fruits in the bowl and close the top drawer. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Open drawer 2- Place the orange in the bowl 3- Place the orange in the bowl 4- Place the banana in the bowl 5- Place the yellow pear in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nOpen drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Open drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the top drawer put all the fruits in the bowl and close the top drawer. Q: immediate next step? \u003cPRED\u003eA: Open drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nOpen drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17673162914232648777.mp4"}
+{"uid":"8316725457515837942","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the hexagonal block on the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18184173540450587568.mp4"}
+{"uid":"4392271367085816183","text":"\u003ctask:success:discrete:True\u003e\nput white packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put white packet in the tray\n\u003c/PRED\u003e","video":"2567195965883751368.mp4"}
+{"uid":"14274967358194997857","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput orange in tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15552266861756138715.mp4"}
+{"uid":"13226975557203199243","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the top drawer put all the fruits in the bowl and close the top drawer. last 20 steps: 1- Open the cardboard drawer 2- Place the orange in the bowl 3- Place the orange in the bowl 4- Place the banana in the bowl 5- Place the yellow pear in the bowl 6- Place the orange in the bowl 7- Place the banana in the bowl 8- Place the orange in the bowl 9- Place the banana in the bowl 10- Place the yellow pear in the bowl 11- Place the orange in the bowl 12- Close the cardboard drawer Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the top drawer put all the fruits in the bowl and close the top drawer. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nClose the cardboard drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the top drawer put all the fruits in the bowl and close the top drawer. last 20 steps: 1- Open the cardboard drawer 2- Place the orange in the bowl 3- Place the orange in the bowl 4- Place the banana in the bowl 5- Place the yellow pear in the bowl 6- Place the orange in the bowl 7- Place the banana in the bowl 8- Place the orange in the bowl 9- Place the banana in the bowl 10- Place the yellow pear in the bowl 11- Place the orange in the bowl 12- Close the cardboard drawer Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Close the cardboard drawer\n\u003c/PRED\u003e","video":"9527144794218540132.mp4"}
+{"uid":"14337718718404753749","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the banana in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the banana in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14199558900159520751.mp4"}
+{"uid":"9180468238285933446","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the top drawer put all the fruits in the bowl and close the top drawer. last 20 steps: 1- Open the cardboard drawer 2- Place the orange in the bowl 3- Place the orange in the bowl 4- Place the banana in the bowl 5- Place the yellow pear in the bowl 6- Place the orange in the bowl 7- Place the banana in the bowl 8- Place the orange in the bowl Q: immediate next step? \u003cPRED\u003eA: Put the banana in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the banana in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the banana in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the top drawer put all the fruits in the bowl and close the top drawer. Q: immediate next step? \u003cPRED\u003eA: Put the banana in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the top drawer put all the fruits in the bowl and close the top drawer. last 20 steps: 1- Open the cardboard drawer 2- Place the orange in the bowl 3- Place the orange in the bowl 4- Place the banana in the bowl 5- Place the yellow pear in the bowl 6- Place the orange in the bowl 7- Place the banana in the bowl 8- Place the orange in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put the banana in the bowl 2- Place the yellow pear in the bowl 3- Place the orange in the bowl 4- Close the cardboard drawer 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the banana in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the banana in the bowl\n\u003c/PRED\u003e","video":"17080356285636016326.mp4"}
+{"uid":"4693058758977245208","text":"\u003ctask:success:discrete:True\u003e\nplace the white packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the white packet in the tray\n\u003c/PRED\u003e","video":"13084761337603393654.mp4"}
+{"uid":"6132811668267702039","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nStack the packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12733716623999707624.mp4"}
+{"uid":"8031766219268528685","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: open the top drawer put all the fruits in the bowl and close the top drawer. Q: immediate next step? \u003cPRED\u003eA: Place the banana in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the banana in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the top drawer put all the fruits in the bowl and close the top drawer. last 20 steps: 1- Open the cardboard drawer 2- Place the orange in the bowl 3- Place the orange in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Place the banana in the bowl 2- Place the yellow pear in the bowl 3- Place the orange in the bowl 4- Place the banana in the bowl 5- Place the orange in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the banana in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the banana in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the top drawer put all the fruits in the bowl and close the top drawer. last 20 steps: 1- Open the cardboard drawer 2- Place the orange in the bowl 3- Place the orange in the bowl Q: immediate next step? \u003cPRED\u003eA: Place the banana in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the banana in the bowl\n\u003c/PRED\u003e","video":"18105006365426561170.mp4"}
+{"uid":"12799872607553126582","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Open the first aid box, grab a roll of gauze and a pair of scissors and take them to the office suppies desk. last 20 steps: 1- open the first aid box 2- put white packet in the tray 3- put scissors in the tray 4- place the tray on the table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the tray on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the tray on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Open the first aid box, grab a roll of gauze and a pair of scissors and take them to the office suppies desk. last 20 steps: 1- open the first aid box 2- put white packet in the tray 3- put scissors in the tray 4- place the tray on the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Open the first aid box, grab a roll of gauze and a pair of scissors and take them to the office suppies desk Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"9162202880824115962.mp4"}
+{"uid":"1052670622217319236","text":"\u003ctask:success:discrete:False\u003e\nPut the banana in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the banana in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the banana in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the top drawer put all the fruits in the bowl and close the top drawer. Q: immediate next step? \u003cPRED\u003eA: Put the banana in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the banana in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the top drawer put all the fruits in the bowl and close the top drawer. last 20 steps: 1- Open the cardboard drawer 2- Place the orange in the bowl 3- Place the orange in the bowl 4- Place the banana in the bowl 5- Place the yellow pear in the bowl 6- Place the orange in the bowl Q: immediate next step? \u003cPRED\u003eA: Put the banana in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the top drawer put all the fruits in the bowl and close the top drawer. last 20 steps: 1- Open the cardboard drawer 2- Place the orange in the bowl 3- Place the orange in the bowl 4- Place the banana in the bowl 5- Place the yellow pear in the bowl 6- Place the orange in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put the banana in the bowl 2- Place the orange in the bowl 3- Place the banana in the bowl 4- Place the yellow pear in the bowl 5- Place the orange in the bowl\n\u003c/PRED\u003e","video":"12637539219629441607.mp4"}
+{"uid":"2665558099005878160","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the top drawer put all the fruits in the bowl and close the top drawer. last 20 steps: 1- Open the cardboard drawer 2- Place the orange in the bowl 3- Place the orange in the bowl 4- Place the banana in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put the pear in the bowl 2- Place the orange in the bowl 3- Place the banana in the bowl 4- Place the orange in the bowl 5- Place the banana in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the pear in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the top drawer put all the fruits in the bowl and close the top drawer. last 20 steps: 1- Open the cardboard drawer 2- Place the orange in the bowl 3- Place the orange in the bowl 4- Place the banana in the bowl Q: immediate next step? \u003cPRED\u003eA: Put the pear in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the top drawer put all the fruits in the bowl and close the top drawer. Q: immediate next step? \u003cPRED\u003eA: Put the pear in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the pear in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the pear in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the pear in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6171192388412542224.mp4"}
+{"uid":"16363369523989299316","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npour pistachio from the green cup into the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2741791405836224687.mp4"}
+{"uid":"4053973007361574546","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Open drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nOpen drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8477768274584949973.mp4"}
+{"uid":"7502027269982072266","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick the plastic glasses from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6888626117188115477.mp4"}
+{"uid":"12641989954348404423","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12744523242702725936.mp4"}
+{"uid":"5406493622557605374","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: open the first aid box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nopen the first aid box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14966604458002978164.mp4"}
+{"uid":"3896276618049602558","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Open the cardboard drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the top drawer put all the fruits in the bowl and close the top drawer. Q: immediate next step? \u003cPRED\u003eA: Open the cardboard drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nOpen the cardboard drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the top drawer put all the fruits in the bowl and close the top drawer. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Open the cardboard drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Open the cardboard drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the top drawer put all the fruits in the bowl and close the top drawer. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Open the cardboard drawer 2- Place the orange in the bowl 3- Place the orange in the bowl 4- Place the banana in the bowl 5- Place the yellow pear in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nOpen the cardboard drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18289515867708438508.mp4"}
+{"uid":"4190943849076343603","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the yellow pear in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the yellow pear in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the top drawer put all the fruits in the bowl and close the top drawer. last 20 steps: 1- Open the cardboard drawer 2- Place the orange in the bowl 3- Place the orange in the bowl 4- Place the banana in the bowl 5- Place the yellow pear in the bowl 6- Place the orange in the bowl 7- Place the banana in the bowl 8- Place the orange in the bowl 9- Place the banana in the bowl Q: immediate next step? \u003cPRED\u003eA: Place the yellow pear in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the yellow pear in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the top drawer put all the fruits in the bowl and close the top drawer. last 20 steps: 1- Open the cardboard drawer 2- Place the orange in the bowl 3- Place the orange in the bowl 4- Place the banana in the bowl 5- Place the yellow pear in the bowl 6- Place the orange in the bowl 7- Place the banana in the bowl 8- Place the orange in the bowl 9- Place the banana in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Place the yellow pear in the bowl 2- Place the orange in the bowl 3- Close the cardboard drawer 4- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the yellow pear in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the top drawer put all the fruits in the bowl and close the top drawer. Q: immediate next step? \u003cPRED\u003eA: Place the yellow pear in the bowl\n\u003c/PRED\u003e","video":"3003284118249871126.mp4"}
+{"uid":"3065244434405830720","text":"\u003ctask:success:discrete:False\u003e\nPlace the yellow pear in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the top drawer put all the fruits in the bowl and close the top drawer. Q: immediate next step? \u003cPRED\u003eA: Place the yellow pear in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the yellow pear in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the top drawer put all the fruits in the bowl and close the top drawer. last 20 steps: 1- Open the cardboard drawer 2- Place the orange in the bowl 3- Place the orange in the bowl 4- Place the banana in the bowl Q: immediate next step? \u003cPRED\u003eA: Place the yellow pear in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the top drawer put all the fruits in the bowl and close the top drawer. last 20 steps: 1- Open the cardboard drawer 2- Place the orange in the bowl 3- Place the orange in the bowl 4- Place the banana in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Place the yellow pear in the bowl 2- Place the orange in the bowl 3- Place the banana in the bowl 4- Place the orange in the bowl 5- Place the banana in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the yellow pear in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the yellow pear in the bowl\n\u003c/PRED\u003e","video":"1040505067718696977.mp4"}
+{"uid":"8028057855560166800","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop pomegranate into basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7958973996076201093.mp4"}
+{"uid":"4873330209814057411","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack the white glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12010823303946043864.mp4"}
+{"uid":"13322019745115232446","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the orange in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the top drawer put all the fruits in the bowl and close the top drawer. Q: immediate next step? \u003cPRED\u003eA: Put the orange in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the orange in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the orange in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the top drawer put all the fruits in the bowl and close the top drawer. last 20 steps: 1- Open the cardboard drawer 2- Place the orange in the bowl 3- Place the orange in the bowl 4- Place the banana in the bowl 5- Place the yellow pear in the bowl Q: immediate next step? \u003cPRED\u003eA: Put the orange in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the orange in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the top drawer put all the fruits in the bowl and close the top drawer. last 20 steps: 1- Open the cardboard drawer 2- Place the orange in the bowl 3- Place the orange in the bowl 4- Place the banana in the bowl 5- Place the yellow pear in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put the orange in the bowl 2- Place the banana in the bowl 3- Place the orange in the bowl 4- Place the banana in the bowl 5- Place the yellow pear in the bowl\n\u003c/PRED\u003e","video":"18218726543903160609.mp4"}
+{"uid":"12104785162120835618","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the cleaning sponge in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7293339616209234931.mp4"}
+{"uid":"16614290079778240369","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: open the top drawer put all the fruits in the bowl and close the top drawer. Q: immediate next step? \u003cPRED\u003eA: Put the pear in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the top drawer put all the fruits in the bowl and close the top drawer. last 20 steps: 1- Open the cardboard drawer 2- Place the orange in the bowl 3- Place the orange in the bowl 4- Place the banana in the bowl 5- Place the yellow pear in the bowl 6- Place the orange in the bowl 7- Place the banana in the bowl 8- Place the orange in the bowl 9- Place the banana in the bowl Q: immediate next step? \u003cPRED\u003eA: Put the pear in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the top drawer put all the fruits in the bowl and close the top drawer. last 20 steps: 1- Open the cardboard drawer 2- Place the orange in the bowl 3- Place the orange in the bowl 4- Place the banana in the bowl 5- Place the yellow pear in the bowl 6- Place the orange in the bowl 7- Place the banana in the bowl 8- Place the orange in the bowl 9- Place the banana in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put the pear in the bowl 2- Place the orange in the bowl 3- Close the cardboard drawer 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the pear in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the pear in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the pear in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the pear in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"919804975064324957.mp4"}
+{"uid":"16548495039576888426","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pistachio in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2006020601615769951.mp4"}
+{"uid":"11586171793337326515","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the marker in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1601674938260238661.mp4"}
+{"uid":"18285461999029030310","text":"\u003ctask:success:discrete:True\u003e\nPlace the banana in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the orange candy into the paper bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the banana in the bowl\n\u003c/PRED\u003e","video":"11911764254246292374.mp4"}
+{"uid":"14254033570430883720","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the chocolate in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5212992802834994863.mp4"}
+{"uid":"465605836410778433","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the top drawer put all the fruits in the bowl and close the top drawer. last 20 steps: 1- Open the cardboard drawer Q: immediate next step? \u003cPRED\u003eA: Place the orange in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the orange in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the orange in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the top drawer put all the fruits in the bowl and close the top drawer. Q: immediate next step? \u003cPRED\u003eA: Place the orange in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the top drawer put all the fruits in the bowl and close the top drawer. last 20 steps: 1- Open the cardboard drawer Q: next 5 steps? \u003cPRED\u003eA: 1- Place the orange in the bowl 2- Place the orange in the bowl 3- Place the banana in the bowl 4- Place the yellow pear in the bowl 5- Place the orange in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the orange in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the orange in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8600440604416016293.mp4"}
+{"uid":"13421203766569315525","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up the gripper Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10263634274065633369.mp4"}
+{"uid":"8337825775374998487","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the invisible tape in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8117406585087739303.mp4"}
+{"uid":"13261858548155105253","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: open the top drawer put all the fruits in the bowl and close the top drawer. Q: immediate next step? \u003cPRED\u003eA: Put the orange in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the orange in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the orange in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the orange in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the top drawer put all the fruits in the bowl and close the top drawer. last 20 steps: 1- Open the cardboard drawer 2- Place the orange in the bowl 3- Place the orange in the bowl 4- Place the banana in the bowl 5- Place the yellow pear in the bowl 6- Place the orange in the bowl 7- Place the banana in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put the orange in the bowl 2- Place the banana in the bowl 3- Place the yellow pear in the bowl 4- Place the orange in the bowl 5- Close the cardboard drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the orange in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the top drawer put all the fruits in the bowl and close the top drawer. last 20 steps: 1- Open the cardboard drawer 2- Place the orange in the bowl 3- Place the orange in the bowl 4- Place the banana in the bowl 5- Place the yellow pear in the bowl 6- Place the orange in the bowl 7- Place the banana in the bowl Q: immediate next step? \u003cPRED\u003eA: Put the orange in the bowl\n\u003c/PRED\u003e","video":"4480042224952384794.mp4"}
+{"uid":"1334383724462556267","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop orange into jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15591402677752115607.mp4"}
+{"uid":"10778620252284153776","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput candy in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1330444379168026076.mp4"}
+{"uid":"7971791197021875111","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop the illy packet in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5114293597299550955.mp4"}
+{"uid":"12293623201447864890","text":"\u003ctask:success:discrete:True\u003e\nput scissors in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put scissors in the tray\n\u003c/PRED\u003e","video":"6667883168322653055.mp4"}
+{"uid":"4764481827412099653","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the scissor into the box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the scissor into the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2680731045484390161.mp4"}
+{"uid":"5680592747465126394","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the top drawer put all the fruits in the bowl and close the top drawer. last 20 steps: 1- Open the cardboard drawer 2- Place the orange in the bowl Q: immediate next step? \u003cPRED\u003eA: Put the orange in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the top drawer put all the fruits in the bowl and close the top drawer. Q: immediate next step? \u003cPRED\u003eA: Put the orange in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the top drawer put all the fruits in the bowl and close the top drawer. last 20 steps: 1- Open the cardboard drawer 2- Place the orange in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put the orange in the bowl 2- Place the banana in the bowl 3- Place the yellow pear in the bowl 4- Place the orange in the bowl 5- Place the banana in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the orange in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the orange in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the orange in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10340176015792132716.mp4"}
+{"uid":"14515554589592197273","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut pear in a bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put pear in a bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the top drawer put all the fruits in the bowl and close the top drawer. Q: immediate next step? \u003cPRED\u003eA: Put pear in a bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put pear in a bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the top drawer put all the fruits in the bowl and close the top drawer. last 20 steps: 1- Open the cardboard drawer 2- Place the orange in the bowl 3- Place the orange in the bowl 4- Place the banana in the bowl Q: immediate next step? \u003cPRED\u003eA: Put pear in a bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the top drawer put all the fruits in the bowl and close the top drawer. last 20 steps: 1- Open the cardboard drawer 2- Place the orange in the bowl 3- Place the orange in the bowl 4- Place the banana in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put pear in a bowl 2- Place the orange in the bowl 3- Place the banana in the bowl 4- Place the orange in the bowl 5- Place the banana in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut pear in a bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13943386472954397267.mp4"}
+{"uid":"13142821542880815694","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the spoon  in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10632825580990241196.mp4"}
+{"uid":"9002248984771133831","text":"\u003ctask:success:discrete:True\u003e\nPlace the orange in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the orange in the bowl\n\u003c/PRED\u003e","video":"16215554330486515329.mp4"}
+{"uid":"12854319501354955839","text":"\u003ctask:success:discrete:False\u003e\nPut orange in a bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the top drawer put all the fruits in the bowl and close the top drawer. Q: immediate next step? \u003cPRED\u003eA: Put orange in a bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut orange in a bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the top drawer put all the fruits in the bowl and close the top drawer. last 20 steps: 1- Open the cardboard drawer Q: immediate next step? \u003cPRED\u003eA: Put orange in a bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the top drawer put all the fruits in the bowl and close the top drawer. last 20 steps: 1- Open the cardboard drawer Q: next 5 steps? \u003cPRED\u003eA: 1- Put orange in a bowl 2- Place the orange in the bowl 3- Place the banana in the bowl 4- Place the yellow pear in the bowl 5- Place the orange in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put orange in a bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put orange in a bowl\n\u003c/PRED\u003e","video":"7876843986503768111.mp4"}
+{"uid":"13251631234880723237","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput apple in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8594424999979654477.mp4"}
+{"uid":"15939158408698149741","text":"\u003ctask:success:discrete:True\u003e\nput the bandage into the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the bandage into the box\n\u003c/PRED\u003e","video":"3767643535719488967.mp4"}
+{"uid":"15411252717382907627","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the toy on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8425902948435671745.mp4"}
+{"uid":"11531190981495296565","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput candy in the empty compartment Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14122475481337725970.mp4"}
+{"uid":"332009250247661642","text":"\u003ctask:success:discrete:True\u003e\nPick up the chilli Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Pick up the chilli\n\u003c/PRED\u003e","video":"15414635504412845808.mp4"}
+{"uid":"18136129494248589504","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pull the container\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pull the container\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npull the container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor Q: immediate next step? \u003cPRED\u003eA: pull the container\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor. last 20 steps: 1- pick the bowl 2- drop the bowl in the tray Q: immediate next step? \u003cPRED\u003eA: pull the container\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor. last 20 steps: 1- pick the bowl 2- drop the bowl in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- pull the container 2- Lift up the sponge 3- Drop the sponge in the tray 4- Slightly move up 5- Lift up the orange bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npull the container Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7317486522179732139.mp4"}
+{"uid":"675025672521909653","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the mini steel glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor Q: immediate next step? \u003cPRED\u003eA: pick the mini steel glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the mini steel glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the mini steel glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor. last 20 steps: 1- pick the bowl 2- drop the bowl in the tray 3- Grab the tray 4- Slightly move up 5- Lift up the sponge 6- Drop the sponge in the tray 7- Slightly move up 8- Lift up the orange bowl 9- Drop the orange bowl in the tray 10- Slightly move your arm up 11- pick the chip packet from the table 12- drop the chip packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- pick the mini steel glass 2- drop the mini sliver glass in the tray 3- lift your arm upwards 4- pick the chilli from the table 5- place the chilli in the container\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor. last 20 steps: 1- pick the bowl 2- drop the bowl in the tray 3- Grab the tray 4- Slightly move up 5- Lift up the sponge 6- Drop the sponge in the tray 7- Slightly move up 8- Lift up the orange bowl 9- Drop the orange bowl in the tray 10- Slightly move your arm up 11- pick the chip packet from the table 12- drop the chip packet in the tray Q: immediate next step? \u003cPRED\u003eA: pick the mini steel glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the mini steel glass\n\u003c/PRED\u003e","video":"7962415390723036508.mp4"}
+{"uid":"8686084597775167941","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove to the paper cup on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3656618502005069683.mp4"}
+{"uid":"6395357558968965253","text":"\u003ctask:success:discrete:False\u003e\nLift up the orange bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Lift up the orange bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the red bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the red bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor Q: immediate next step? \u003cPRED\u003eA: Lift up the orange bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor. last 20 steps: 1- pick the bowl 2- drop the bowl in the tray 3- Grab the tray 4- Slightly move up 5- Lift up the sponge 6- Drop the sponge in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Lift up the orange bowl 2- Slightly move your arm up 3- pick the chip packet from the table 4- drop the chip packet in the tray 5- lift your arm upwards\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nLift up the orange bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the red bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:False\u003e\nadjust the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor. last 20 steps: 1- pick the bowl 2- drop the bowl in the tray 3- Grab the tray 4- Slightly move up 5- Lift up the sponge 6- Drop the sponge in the tray Q: immediate next step? \u003cPRED\u003eA: pick the red bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor. last 20 steps: 1- pick the bowl 2- drop the bowl in the tray 3- Grab the tray 4- Slightly move up 5- Lift up the sponge 6- Drop the sponge in the tray Q: immediate next step? \u003cPRED\u003eA: Lift up the orange bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the red bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor. last 20 steps: 1- pick the bowl 2- drop the bowl in the tray 3- Grab the tray 4- Slightly move up 5- Lift up the sponge 6- Drop the sponge in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- pick the red bowl 2- Drop the orange bowl in the tray 3- Slightly move your arm up 4- pick the chip packet from the table 5- drop the chip packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Lift up the orange bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor Q: immediate next step? \u003cPRED\u003eA: pick the red bowl\n\u003c/PRED\u003e","video":"249420917002980029.mp4"}
+{"uid":"4222835591003362914","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput candy in bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12749687754477306639.mp4"}
+{"uid":"3543196239653155837","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor. last 20 steps: 1- pick the bowl 2- drop the bowl in the tray 3- Grab the tray 4- Slightly move up 5- Lift up the sponge 6- Drop the sponge in the tray 7- Slightly move up 8- Lift up the orange bowl 9- Drop the orange bowl in the tray 10- Slightly move your arm up 11- pick the chip packet from the table 12- drop the chip packet in the tray 13- lift your arm upwards 14- pick the mini sliver glass from the table 15- drop the mini sliver glass in the tray 16- lift your arm upwards Q: immediate next step? \u003cPRED\u003eA: drop the chilli in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the chilli in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the chilli in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the chilli in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor Q: immediate next step? \u003cPRED\u003eA: drop the chilli in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor. last 20 steps: 1- pick the bowl 2- drop the bowl in the tray 3- Grab the tray 4- Slightly move up 5- Lift up the sponge 6- Drop the sponge in the tray 7- Slightly move up 8- Lift up the orange bowl 9- Drop the orange bowl in the tray 10- Slightly move your arm up 11- pick the chip packet from the table 12- drop the chip packet in the tray 13- lift your arm upwards 14- pick the mini sliver glass from the table 15- drop the mini sliver glass in the tray 16- lift your arm upwards Q: next 5 steps? \u003cPRED\u003eA: 1- drop the chilli in the tray 2- Move close to the brush 3- Pick the brush 4- drop the brush in the container 5- move your arm up\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the chilli in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4580390763687296860.mp4"}
+{"uid":"9368115016364933353","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17679867327147763683.mp4"}
+{"uid":"3182211788481049884","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove your arm upwards Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9526609286680896420.mp4"}
+{"uid":"6616442178964668565","text":"\u003ctask:success:discrete:False\u003e\nMove your arm towards the red bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move your arm towards the red bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor. last 20 steps: 1- pick the bowl 2- drop the bowl in the tray 3- Grab the tray 4- Slightly move up 5- Lift up the sponge 6- Drop the sponge in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Move your arm towards the red bowl 2- Drop the orange bowl in the tray 3- Slightly move your arm up 4- pick the chip packet from the table 5- drop the chip packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move your arm towards the red bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove your arm towards the red bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor. last 20 steps: 1- pick the bowl 2- drop the bowl in the tray 3- Grab the tray 4- Slightly move up 5- Lift up the sponge 6- Drop the sponge in the tray Q: immediate next step? \u003cPRED\u003eA: Move your arm towards the red bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor Q: immediate next step? \u003cPRED\u003eA: Move your arm towards the red bowl\n\u003c/PRED\u003e","video":"8325234615161458304.mp4"}
+{"uid":"11139349476925245619","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut pista in a glass. Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12246456994349290671.mp4"}
+{"uid":"13829044029413671545","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput orange candy in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13270958010210359542.mp4"}
+{"uid":"18432597697445840004","text":"\u003ctask:success:discrete:True\u003e\nRelease the chips packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Release the chips packet in the tray\n\u003c/PRED\u003e","video":"7576400839679930337.mp4"}
+{"uid":"15910439917936018308","text":"\u003ctask:success:discrete:True\u003e\npick the popcorn packet Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick the popcorn packet\n\u003c/PRED\u003e","video":"15304139566403253458.mp4"}
+{"uid":"13577862018729264169","text":"\u003ctask:success:discrete:True\u003e\nslightly move the tray back Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: slightly move the tray back\n\u003c/PRED\u003e","video":"15872807176888853871.mp4"}
+{"uid":"2776240436109716551","text":"\u003ctask:success:discrete:True\u003e\npick the mini sliver glass from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick the mini sliver glass from the table\n\u003c/PRED\u003e","video":"3305861975103837.mp4"}
+{"uid":"6200029950342358188","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor. last 20 steps: 1- pick the bowl 2- drop the bowl in the tray 3- Grab the tray 4- Slightly move up 5- Lift up the sponge 6- Drop the sponge in the tray 7- Slightly move up 8- Lift up the orange bowl 9- Drop the orange bowl in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- move your arm upwards 2- pick the chip packet from the table 3- drop the chip packet in the tray 4- lift your arm upwards 5- pick the mini sliver glass from the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove your arm upwards Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor. last 20 steps: 1- pick the bowl 2- drop the bowl in the tray 3- Grab the tray 4- Slightly move up 5- Lift up the sponge 6- Drop the sponge in the tray 7- Slightly move up 8- Lift up the orange bowl 9- Drop the orange bowl in the tray Q: immediate next step? \u003cPRED\u003eA: move your arm upwards\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move your arm upwards\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor Q: immediate next step? \u003cPRED\u003eA: move your arm upwards\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move your arm upwards\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove your arm upwards Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11263477400763674292.mp4"}
+{"uid":"16214404110400851860","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop marker into glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13277862646262534703.mp4"}
+{"uid":"13165417072257951723","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\narrange the book in a shelf Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7744466868523425245.mp4"}
+{"uid":"13808902690861773674","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the steel glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor. last 20 steps: 1- pick the bowl 2- drop the bowl in the tray 3- Grab the tray 4- Slightly move up 5- Lift up the sponge 6- Drop the sponge in the tray 7- Slightly move up 8- Lift up the orange bowl 9- Drop the orange bowl in the tray 10- Slightly move your arm up 11- pick the chip packet from the table 12- drop the chip packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the steel glass 2- drop the mini sliver glass in the tray 3- lift your arm upwards 4- pick the chilli from the table 5- place the chilli in the container\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor Q: immediate next step? \u003cPRED\u003eA: Pick up the steel glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor. last 20 steps: 1- pick the bowl 2- drop the bowl in the tray 3- Grab the tray 4- Slightly move up 5- Lift up the sponge 6- Drop the sponge in the tray 7- Slightly move up 8- Lift up the orange bowl 9- Drop the orange bowl in the tray 10- Slightly move your arm up 11- pick the chip packet from the table 12- drop the chip packet in the tray Q: immediate next step? \u003cPRED\u003eA: Pick up the steel glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the steel glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the steel glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the steel glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11708881700674960431.mp4"}
+{"uid":"5259445341463940580","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the plastic bowl in the container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the plastic bowl in the container\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the plastic bowl in the container Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor. last 20 steps: 1- pick the bowl 2- drop the bowl in the tray 3- Grab the tray 4- Slightly move up 5- Lift up the sponge 6- Drop the sponge in the tray 7- Slightly move up Q: next 5 steps? \u003cPRED\u003eA: 1- place the plastic bowl in the container 2- Slightly move your arm up 3- pick the chip packet from the table 4- drop the chip packet in the tray 5- lift your arm upwards\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor Q: immediate next step? \u003cPRED\u003eA: place the plastic bowl in the container\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the plastic bowl in the container\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor. last 20 steps: 1- pick the bowl 2- drop the bowl in the tray 3- Grab the tray 4- Slightly move up 5- Lift up the sponge 6- Drop the sponge in the tray 7- Slightly move up Q: immediate next step? \u003cPRED\u003eA: place the plastic bowl in the container\n\u003c/PRED\u003e","video":"3421290125760003113.mp4"}
+{"uid":"8942665940413534564","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: get 1 coke and 2 lacroix from the fridge to the counter table Q: immediate next step? \u003cPRED\u003eA: place the can on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: get 1 coke and 2 lacroix from the fridge to the counter table. last 20 steps: 1- open the fridge Q: next 5 steps? \u003cPRED\u003eA: 1- place the can on the table 2- open the fridge 3- place the can on the table 4- open the fridge 5- place the can on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: get 1 coke and 2 lacroix from the fridge to the counter table. last 20 steps: 1- open the fridge Q: immediate next step? \u003cPRED\u003eA: place the can on the table\n\u003c/PRED\u003e","video":"5295306206680477042.mp4"}
+{"uid":"12425702183923293304","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput blue pen on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5231691208385198631.mp4"}
+{"uid":"4844431825088702281","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput pink packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2730373974273136181.mp4"}
+{"uid":"1765184162937420547","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick the sponge\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick the sponge\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor Q: immediate next step? \u003cPRED\u003eA: Pick the sponge\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick the sponge Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick the sponge Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor. last 20 steps: 1- pick the bowl 2- drop the bowl in the tray 3- Grab the tray 4- Slightly move up Q: next 5 steps? \u003cPRED\u003eA: 1- Pick the sponge 2- Slightly move up 3- Lift up the orange bowl 4- Drop the orange bowl in the tray 5- Slightly move your arm up\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor. last 20 steps: 1- pick the bowl 2- drop the bowl in the tray 3- Grab the tray 4- Slightly move up Q: immediate next step? \u003cPRED\u003eA: Pick the sponge\n\u003c/PRED\u003e","video":"9747269189008139899.mp4"}
+{"uid":"15285459971102640320","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor. last 20 steps: 1- pick the bowl 2- drop the bowl in the tray 3- Grab the tray 4- Slightly move up 5- Lift up the sponge 6- Drop the sponge in the tray 7- Slightly move up Q: immediate next step? \u003cPRED\u003eA: pick the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor. last 20 steps: 1- pick the bowl 2- drop the bowl in the tray 3- Grab the tray 4- Slightly move up 5- Lift up the sponge 6- Drop the sponge in the tray 7- Slightly move up Q: next 5 steps? \u003cPRED\u003eA: 1- pick the bowl 2- Slightly move your arm up 3- pick the chip packet from the table 4- drop the chip packet in the tray 5- lift your arm upwards\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor Q: immediate next step? \u003cPRED\u003eA: pick the bowl\n\u003c/PRED\u003e","video":"9426314785526302422.mp4"}
+{"uid":"1473973688613862257","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor. last 20 steps: 1- pick the bowl 2- drop the bowl in the tray 3- Grab the tray 4- Slightly move up 5- Lift up the sponge 6- Drop the sponge in the tray 7- Slightly move up 8- Lift up the orange bowl Q: next 5 steps? \u003cPRED\u003eA: 1- drop the red bowl in the tray 2- pick the chip packet from the table 3- drop the chip packet in the tray 4- lift your arm upwards 5- pick the mini sliver glass from the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the red bowl in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the red bowl in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor. last 20 steps: 1- pick the bowl 2- drop the bowl in the tray 3- Grab the tray 4- Slightly move up 5- Lift up the sponge 6- Drop the sponge in the tray 7- Slightly move up 8- Lift up the orange bowl Q: immediate next step? \u003cPRED\u003eA: drop the red bowl in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the red bowl in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the red bowl in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor Q: immediate next step? \u003cPRED\u003eA: drop the red bowl in the tray\n\u003c/PRED\u003e","video":"6858054097708190744.mp4"}
+{"uid":"16120819690510924919","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- drop the paper bowl in the container 2- Grab the tray 3- Slightly move up 4- Lift up the sponge 5- Drop the sponge in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the paper bowl in the container\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the paper bowl in the container Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the paper bowl in the container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the paper bowl in the container\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: drop the paper bowl in the container\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor Q: immediate next step? \u003cPRED\u003eA: drop the paper bowl in the container\n\u003c/PRED\u003e","video":"4398880562460421201.mp4"}
+{"uid":"13734454298901918994","text":"\u003ctask:success:discrete:True\u003e\nclose the door Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Take the trash off the table in the roon and throw it away. Then come back and close the door Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: close the door\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take the trash off the table in the roon and throw it away. Then come back and close the door. last 20 steps: 1- pick up the plastic 2- put the plastic in the dustbin 3- close the door Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take the trash off the table in the roon and throw it away. Then come back and close the door. last 20 steps: 1- pick up the plastic 2- put the plastic in the dustbin 3- close the door Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"1711871808950484740.mp4"}
+{"uid":"8488861925847959393","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the candy in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10713655167475849950.mp4"}
+{"uid":"7334020875306941669","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Grab the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nGrab the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2458214202297458504.mp4"}
+{"uid":"1441202625778144030","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the chilli\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor. last 20 steps: 1- pick the bowl 2- drop the bowl in the tray 3- Grab the tray 4- Slightly move up 5- Lift up the sponge 6- Drop the sponge in the tray 7- Slightly move up 8- Lift up the orange bowl 9- Drop the orange bowl in the tray 10- Slightly move your arm up 11- pick the chip packet from the table 12- drop the chip packet in the tray 13- lift your arm upwards 14- pick the mini sliver glass from the table 15- drop the mini sliver glass in the tray 16- lift your arm upwards Q: next 5 steps? \u003cPRED\u003eA: 1- pick the chilli 2- move your arm upwards 3- Move close to the brush 4- Pick the brush 5- drop the brush in the container\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the chilli\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor Q: immediate next step? \u003cPRED\u003eA: pick the chilli\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the chilli Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the chilli Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor. last 20 steps: 1- pick the bowl 2- drop the bowl in the tray 3- Grab the tray 4- Slightly move up 5- Lift up the sponge 6- Drop the sponge in the tray 7- Slightly move up 8- Lift up the orange bowl 9- Drop the orange bowl in the tray 10- Slightly move your arm up 11- pick the chip packet from the table 12- drop the chip packet in the tray 13- lift your arm upwards 14- pick the mini sliver glass from the table 15- drop the mini sliver glass in the tray 16- lift your arm upwards Q: immediate next step? \u003cPRED\u003eA: pick the chilli\n\u003c/PRED\u003e","video":"18033042790391248854.mp4"}
+{"uid":"17223493791018390851","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor. last 20 steps: 1- pick the bowl 2- drop the bowl in the tray 3- Grab the tray 4- Slightly move up 5- Lift up the sponge 6- Drop the sponge in the tray 7- Slightly move up 8- Lift up the orange bowl 9- Drop the orange bowl in the tray 10- Slightly move your arm up 11- pick the chip packet from the table 12- drop the chip packet in the tray 13- lift your arm upwards 14- pick the mini sliver glass from the table Q: immediate next step? \u003cPRED\u003eA: Slightly move your arm up\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor. last 20 steps: 1- pick the bowl 2- drop the bowl in the tray 3- Grab the tray 4- Slightly move up 5- Lift up the sponge 6- Drop the sponge in the tray 7- Slightly move up 8- Lift up the orange bowl 9- Drop the orange bowl in the tray 10- Slightly move your arm up 11- pick the chip packet from the table 12- drop the chip packet in the tray 13- lift your arm upwards 14- pick the mini sliver glass from the table Q: next 5 steps? \u003cPRED\u003eA: 1- Slightly move your arm up 2- pick the chilli from the table 3- place the chilli in the container 4- move your arm upwards 5- Move close to the brush\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor Q: immediate next step? \u003cPRED\u003eA: Slightly move your arm up\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nSlightly move your arm up Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nSlightly move your arm up Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Slightly move your arm up\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Slightly move your arm up\n\u003c/PRED\u003e","video":"7112981098291740958.mp4"}
+{"uid":"15393098655462435116","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the seaweed snacks packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13050838663139282776.mp4"}
+{"uid":"4170157711507371749","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the sugar packet in the organiser Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6903257958326427320.mp4"}
+{"uid":"4376448035982484182","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the popcorn packet\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor Q: immediate next step? \u003cPRED\u003eA: pick the popcorn packet\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the popcorn packet Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor. last 20 steps: 1- pick the bowl 2- drop the bowl in the tray 3- Grab the tray 4- Slightly move up 5- Lift up the sponge 6- Drop the sponge in the tray 7- Slightly move up 8- Lift up the orange bowl 9- Drop the orange bowl in the tray 10- Slightly move your arm up Q: next 5 steps? \u003cPRED\u003eA: 1- pick the popcorn packet 2- lift your arm upwards 3- pick the mini sliver glass from the table 4- drop the mini sliver glass in the tray 5- lift your arm upwards\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor. last 20 steps: 1- pick the bowl 2- drop the bowl in the tray 3- Grab the tray 4- Slightly move up 5- Lift up the sponge 6- Drop the sponge in the tray 7- Slightly move up 8- Lift up the orange bowl 9- Drop the orange bowl in the tray 10- Slightly move your arm up Q: immediate next step? \u003cPRED\u003eA: pick the popcorn packet\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the popcorn packet Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the popcorn packet\n\u003c/PRED\u003e","video":"12558460404535188378.mp4"}
+{"uid":"13682068041274223492","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor Q: immediate next step? \u003cPRED\u003eA: move your arm upwards\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor. last 20 steps: 1- pick the bowl 2- drop the bowl in the tray 3- Grab the tray 4- Slightly move up 5- Lift up the sponge 6- Drop the sponge in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- move your arm upwards 2- Lift up the orange bowl 3- Drop the orange bowl in the tray 4- Slightly move your arm up 5- pick the chip packet from the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove your arm upwards Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove your arm upwards Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move your arm upwards\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move your arm upwards\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor. last 20 steps: 1- pick the bowl 2- drop the bowl in the tray 3- Grab the tray 4- Slightly move up 5- Lift up the sponge 6- Drop the sponge in the tray Q: immediate next step? \u003cPRED\u003eA: move your arm upwards\n\u003c/PRED\u003e","video":"1286128129119040339.mp4"}
+{"uid":"886910241208505680","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- pick the bowl 2- Grab the tray 3- Slightly move up 4- Lift up the sponge 5- Drop the sponge in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: pick the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor Q: immediate next step? \u003cPRED\u003eA: pick the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the bowl\n\u003c/PRED\u003e","video":"12915149541005143999.mp4"}
+{"uid":"18111248493839376251","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor. last 20 steps: 1- pick the bowl 2- drop the bowl in the tray 3- Grab the tray 4- Slightly move up 5- Lift up the sponge 6- Drop the sponge in the tray 7- Slightly move up 8- Lift up the orange bowl 9- Drop the orange bowl in the tray 10- Slightly move your arm up 11- pick the chip packet from the table 12- drop the chip packet in the tray 13- lift your arm upwards Q: next 5 steps? \u003cPRED\u003eA: 1- drop the steel object in the container 2- lift your arm upwards 3- pick the chilli from the table 4- place the chilli in the container 5- move your arm upwards\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the steel object in the container Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the steel object in the container\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor Q: immediate next step? \u003cPRED\u003eA: drop the steel object in the container\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the steel object in the container\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the steel object in the container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor. last 20 steps: 1- pick the bowl 2- drop the bowl in the tray 3- Grab the tray 4- Slightly move up 5- Lift up the sponge 6- Drop the sponge in the tray 7- Slightly move up 8- Lift up the orange bowl 9- Drop the orange bowl in the tray 10- Slightly move your arm up 11- pick the chip packet from the table 12- drop the chip packet in the tray 13- lift your arm upwards Q: immediate next step? \u003cPRED\u003eA: drop the steel object in the container\n\u003c/PRED\u003e","video":"5586204813894364371.mp4"}
+{"uid":"81849227518969825","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up the paper Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5087748628727404566.mp4"}
+{"uid":"180510790964775496","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor Q: immediate next step? \u003cPRED\u003eA: Move your arm close to the paper bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move your arm close to the paper bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove your arm close to the paper bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Move your arm close to the paper bowl 2- drop the bowl in the tray 3- Grab the tray 4- Slightly move up 5- Lift up the sponge\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Move your arm close to the paper bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove your arm close to the paper bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move your arm close to the paper bowl\n\u003c/PRED\u003e","video":"12900720810553317210.mp4"}
+{"uid":"12271749595598103005","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput green fruit on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5471318492243998788.mp4"}
+{"uid":"1044558806964395621","text":"\u003ctask:success:discrete:False\u003e\npick the plastic bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor. last 20 steps: 1- pick the bowl 2- drop the bowl in the tray 3- Grab the tray 4- Slightly move up 5- Lift up the sponge 6- Drop the sponge in the tray 7- Slightly move up Q: immediate next step? \u003cPRED\u003eA: pick the plastic bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor. last 20 steps: 1- pick the bowl 2- drop the bowl in the tray 3- Grab the tray 4- Slightly move up 5- Lift up the sponge 6- Drop the sponge in the tray 7- Slightly move up Q: next 5 steps? \u003cPRED\u003eA: 1- pick the plastic bowl 2- Drop the orange bowl in the tray 3- Slightly move your arm up 4- pick the chip packet from the table 5- drop the chip packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the plastic bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the plastic bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the plastic bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor Q: immediate next step? \u003cPRED\u003eA: pick the plastic bowl\n\u003c/PRED\u003e","video":"6969542592113245852.mp4"}
+{"uid":"13661915504099388480","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the paper cups in the cup stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3050549887694192182.mp4"}
+{"uid":"12719468479901900098","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace color candies into top of the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3673880514673839469.mp4"}
+{"uid":"16409114804064194489","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor. last 20 steps: 1- pick the bowl 2- drop the bowl in the tray 3- Grab the tray 4- Slightly move up 5- Lift up the sponge 6- Drop the sponge in the tray 7- Slightly move up 8- Lift up the orange bowl 9- Drop the orange bowl in the tray 10- Slightly move your arm up 11- pick the chip packet from the table 12- drop the chip packet in the tray 13- lift your arm upwards 14- pick the mini sliver glass from the table 15- drop the mini sliver glass in the tray 16- lift your arm upwards 17- pick the chilli from the table Q: immediate next step? \u003cPRED\u003eA: Release the chilli in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Release the chilli in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Release the chilli in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor. last 20 steps: 1- pick the bowl 2- drop the bowl in the tray 3- Grab the tray 4- Slightly move up 5- Lift up the sponge 6- Drop the sponge in the tray 7- Slightly move up 8- Lift up the orange bowl 9- Drop the orange bowl in the tray 10- Slightly move your arm up 11- pick the chip packet from the table 12- drop the chip packet in the tray 13- lift your arm upwards 14- pick the mini sliver glass from the table 15- drop the mini sliver glass in the tray 16- lift your arm upwards 17- pick the chilli from the table Q: next 5 steps? \u003cPRED\u003eA: 1- Release the chilli in the tray 2- Move close to the brush 3- Pick the brush 4- drop the brush in the container 5- move your arm up\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nRelease the chilli in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nRelease the chilli in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor Q: immediate next step? \u003cPRED\u003eA: Release the chilli in the tray\n\u003c/PRED\u003e","video":"616211415658669216.mp4"}
+{"uid":"13910047040864101823","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the chilli in the container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the chilli in the container\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor. last 20 steps: 1- pick the bowl 2- drop the bowl in the tray 3- Grab the tray 4- Slightly move up 5- Lift up the sponge 6- Drop the sponge in the tray 7- Slightly move up 8- Lift up the orange bowl 9- Drop the orange bowl in the tray 10- Slightly move your arm up 11- pick the chip packet from the table 12- drop the chip packet in the tray 13- lift your arm upwards 14- pick the mini sliver glass from the table 15- drop the mini sliver glass in the tray 16- lift your arm upwards Q: next 5 steps? \u003cPRED\u003eA: 1- place the chilli in the container 2- move your arm upwards 3- Move close to the brush 4- Pick the brush 5- drop the brush in the container\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor. last 20 steps: 1- pick the bowl 2- drop the bowl in the tray 3- Grab the tray 4- Slightly move up 5- Lift up the sponge 6- Drop the sponge in the tray 7- Slightly move up 8- Lift up the orange bowl 9- Drop the orange bowl in the tray 10- Slightly move your arm up 11- pick the chip packet from the table 12- drop the chip packet in the tray 13- lift your arm upwards 14- pick the mini sliver glass from the table 15- drop the mini sliver glass in the tray 16- lift your arm upwards Q: immediate next step? \u003cPRED\u003eA: place the chilli in the container\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the chilli in the container Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor Q: immediate next step? \u003cPRED\u003eA: place the chilli in the container\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the chilli in the container\n\u003c/PRED\u003e","video":"12197822513187104167.mp4"}
+{"uid":"5704140168737348136","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick the chilli\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick the chilli\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick the chilli Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor. last 20 steps: 1- pick the bowl 2- drop the bowl in the tray 3- Grab the tray 4- Slightly move up 5- Lift up the sponge 6- Drop the sponge in the tray 7- Slightly move up 8- Lift up the orange bowl 9- Drop the orange bowl in the tray 10- Slightly move your arm up 11- pick the chip packet from the table 12- drop the chip packet in the tray 13- lift your arm upwards 14- pick the mini sliver glass from the table 15- drop the mini sliver glass in the tray 16- lift your arm upwards Q: next 5 steps? \u003cPRED\u003eA: 1- Pick the chilli 2- move your arm upwards 3- Move close to the brush 4- Pick the brush 5- drop the brush in the container\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor Q: immediate next step? \u003cPRED\u003eA: Pick the chilli\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick the chilli Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor. last 20 steps: 1- pick the bowl 2- drop the bowl in the tray 3- Grab the tray 4- Slightly move up 5- Lift up the sponge 6- Drop the sponge in the tray 7- Slightly move up 8- Lift up the orange bowl 9- Drop the orange bowl in the tray 10- Slightly move your arm up 11- pick the chip packet from the table 12- drop the chip packet in the tray 13- lift your arm upwards 14- pick the mini sliver glass from the table 15- drop the mini sliver glass in the tray 16- lift your arm upwards Q: immediate next step? \u003cPRED\u003eA: Pick the chilli\n\u003c/PRED\u003e","video":"3279857483987092504.mp4"}
+{"uid":"6593721153746336812","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor Q: immediate next step? \u003cPRED\u003eA: drop the sponge in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the sponge in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the sponge in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor. last 20 steps: 1- pick the bowl 2- drop the bowl in the tray 3- Grab the tray 4- Slightly move up 5- Lift up the sponge Q: immediate next step? \u003cPRED\u003eA: drop the sponge in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor. last 20 steps: 1- pick the bowl 2- drop the bowl in the tray 3- Grab the tray 4- Slightly move up 5- Lift up the sponge Q: next 5 steps? \u003cPRED\u003eA: 1- drop the sponge in the tray 2- Lift up the orange bowl 3- Drop the orange bowl in the tray 4- Slightly move your arm up 5- pick the chip packet from the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the sponge in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1983282889762869723.mp4"}
+{"uid":"16315791726414631372","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Slightly move your arm up\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor. last 20 steps: 1- pick the bowl 2- drop the bowl in the tray 3- Grab the tray 4- Slightly move up 5- Lift up the sponge 6- Drop the sponge in the tray 7- Slightly move up 8- Lift up the orange bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Slightly move your arm up 2- pick the chip packet from the table 3- drop the chip packet in the tray 4- lift your arm upwards 5- pick the mini sliver glass from the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Slightly move your arm up\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor. last 20 steps: 1- pick the bowl 2- drop the bowl in the tray 3- Grab the tray 4- Slightly move up 5- Lift up the sponge 6- Drop the sponge in the tray 7- Slightly move up 8- Lift up the orange bowl Q: immediate next step? \u003cPRED\u003eA: Slightly move your arm up\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nSlightly move your arm up Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nSlightly move your arm up Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor Q: immediate next step? \u003cPRED\u003eA: Slightly move your arm up\n\u003c/PRED\u003e","video":"8170854210253369643.mp4"}
+{"uid":"3675168484860964931","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick the packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4837215905837336761.mp4"}
+{"uid":"15032167085971111902","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the yellow packet on the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"219189823006323386.mp4"}
+{"uid":"5555079175027805008","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput plastic forks in the black container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7251436010387479421.mp4"}
+{"uid":"6535251729649498339","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Drop the orange bowl in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nDrop the orange bowl in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8767493269206746670.mp4"}
+{"uid":"13087951138368779162","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove the chair towards the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7905471506214291557.mp4"}
+{"uid":"2826522350947476613","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Pick the red bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPick the red bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13655054103584382850.mp4"}
+{"uid":"2263860690324727915","text":"\u003ctask:success:discrete:True\u003e\ndrop the sponge in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the sponge in the tray\n\u003c/PRED\u003e","video":"3475830817027068923.mp4"}
+{"uid":"13640187695283477065","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move towards the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor. last 20 steps: 1- pick the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- move towards the tray 2- Grab the tray 3- Slightly move up 4- Lift up the sponge 5- Drop the sponge in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor Q: immediate next step? \u003cPRED\u003eA: move towards the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move towards the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove towards the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove towards the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor. last 20 steps: 1- pick the bowl Q: immediate next step? \u003cPRED\u003eA: move towards the tray\n\u003c/PRED\u003e","video":"14316633883419744803.mp4"}
+{"uid":"7582802347631221772","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Release the paper bowl in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nRelease the paper bowl in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7682063976769590951.mp4"}
+{"uid":"17586845551962630505","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop the brush in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrop the brush in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop the brush in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor. last 20 steps: 1- drop the bowl in the tray 2- Grab the tray 3- Slightly move up 4- Lift up the sponge 5- Drop the sponge in the tray 6- Slightly move up 7- Lift up the orange bowl 8- Drop the orange bowl in the tray 9- Slightly move your arm up 10- pick the chip packet from the table 11- drop the chip packet in the tray 12- lift your arm upwards 13- pick the mini sliver glass from the table 14- drop the mini sliver glass in the tray 15- lift your arm upwards 16- pick the chilli from the table 17- place the chilli in the container 18- move your arm upwards 19- Move close to the brush 20- Pick the brush Q: next 5 steps? \u003cPRED\u003eA: 1- Drop the brush in the tray 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor Q: immediate next step? \u003cPRED\u003eA: Drop the brush in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop the brush in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor. last 20 steps: 1- drop the bowl in the tray 2- Grab the tray 3- Slightly move up 4- Lift up the sponge 5- Drop the sponge in the tray 6- Slightly move up 7- Lift up the orange bowl 8- Drop the orange bowl in the tray 9- Slightly move your arm up 10- pick the chip packet from the table 11- drop the chip packet in the tray 12- lift your arm upwards 13- pick the mini sliver glass from the table 14- drop the mini sliver glass in the tray 15- lift your arm upwards 16- pick the chilli from the table 17- place the chilli in the container 18- move your arm upwards 19- Move close to the brush 20- Pick the brush Q: immediate next step? \u003cPRED\u003eA: Drop the brush in the tray\n\u003c/PRED\u003e","video":"1228407899314597251.mp4"}
+{"uid":"10484520174850042141","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the numi ginger lemon in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the pink marker in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2663619249174753961.mp4"}
+{"uid":"14402166884106785614","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the orange in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7831202470544658110.mp4"}
+{"uid":"367373145670242327","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up the duster from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15595161263771257519.mp4"}
+{"uid":"6347072536422817859","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the marker on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8015397303536027364.mp4"}
+{"uid":"17874776208739267130","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nTurn right Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2539721277344689556.mp4"}
+{"uid":"1686612577892940526","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor Q: immediate next step? \u003cPRED\u003eA: drop the cloth in the container\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the cloth in the container\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the cloth in the container\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor. last 20 steps: 1- pick the bowl 2- drop the bowl in the tray 3- Grab the tray 4- Slightly move up 5- Lift up the sponge Q: next 5 steps? \u003cPRED\u003eA: 1- drop the cloth in the container 2- Slightly move up 3- Lift up the orange bowl 4- Drop the orange bowl in the tray 5- Slightly move your arm up\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor. last 20 steps: 1- pick the bowl 2- drop the bowl in the tray 3- Grab the tray 4- Slightly move up 5- Lift up the sponge Q: immediate next step? \u003cPRED\u003eA: drop the cloth in the container\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the cloth in the container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the cloth in the container Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13121966204950320448.mp4"}
+{"uid":"12703820860130403067","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Slightly move up\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nrelease the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor. last 20 steps: 1- pick the bowl 2- drop the bowl in the tray Q: immediate next step? \u003cPRED\u003eA: release the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Slightly move up\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor. last 20 steps: 1- pick the bowl 2- drop the bowl in the tray Q: immediate next step? \u003cPRED\u003eA: Slightly move up\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor Q: immediate next step? \u003cPRED\u003eA: Slightly move up\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nSlightly move up Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor. last 20 steps: 1- pick the bowl 2- drop the bowl in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Slightly move up 2- Drop the sponge in the tray 3- Slightly move up 4- Lift up the orange bowl 5- Drop the orange bowl in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor Q: immediate next step? \u003cPRED\u003eA: release the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: release the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: release the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nrelease the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nSlightly move up Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor. last 20 steps: 1- pick the bowl 2- drop the bowl in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- release the tray 2- Lift up the sponge 3- Drop the sponge in the tray 4- Slightly move up 5- Lift up the orange bowl\n\u003c/PRED\u003e","video":"5372545812110163874.mp4"}
+{"uid":"12178407334544519456","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nslightly move the tray back Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: slightly move the tray back\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: slightly move the tray back\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor. last 20 steps: 1- pick the bowl Q: immediate next step? \u003cPRED\u003eA: slightly move the tray back\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nslightly move the tray back Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor Q: immediate next step? \u003cPRED\u003eA: slightly move the tray back\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor. last 20 steps: 1- pick the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- slightly move the tray back 2- Lift up the sponge 3- Drop the sponge in the tray 4- Slightly move up 5- Lift up the orange bowl\n\u003c/PRED\u003e","video":"6607305260112637666.mp4"}
+{"uid":"11856320028077625417","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput sugar packet in the organiser Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4578579856547358190.mp4"}
+{"uid":"7615366567597163705","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the bowl in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor. last 20 steps: 1- pick the bowl 2- drop the bowl in the tray 3- Grab the tray 4- Slightly move up 5- Lift up the sponge 6- Drop the sponge in the tray 7- Slightly move up 8- Lift up the orange bowl Q: immediate next step? \u003cPRED\u003eA: drop the bowl in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the bowl in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor Q: immediate next step? \u003cPRED\u003eA: drop the bowl in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor. last 20 steps: 1- pick the bowl 2- drop the bowl in the tray 3- Grab the tray 4- Slightly move up 5- Lift up the sponge 6- Drop the sponge in the tray 7- Slightly move up 8- Lift up the orange bowl Q: next 5 steps? \u003cPRED\u003eA: 1- drop the bowl in the tray 2- pick the chip packet from the table 3- drop the chip packet in the tray 4- lift your arm upwards 5- pick the mini sliver glass from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the bowl in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the bowl in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2448076955248744447.mp4"}
+{"uid":"1812995340935410381","text":"\u003ctask:success:discrete:False\u003e\npick the steel object Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor. last 20 steps: 1- pick the bowl 2- drop the bowl in the tray 3- Grab the tray 4- Slightly move up 5- Lift up the sponge 6- Drop the sponge in the tray 7- Slightly move up 8- Lift up the orange bowl 9- Drop the orange bowl in the tray 10- Slightly move your arm up 11- pick the chip packet from the table 12- drop the chip packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- pick the steel object 2- drop the mini sliver glass in the tray 3- lift your arm upwards 4- pick the chilli from the table 5- place the chilli in the container\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor. last 20 steps: 1- pick the bowl 2- drop the bowl in the tray 3- Grab the tray 4- Slightly move up 5- Lift up the sponge 6- Drop the sponge in the tray 7- Slightly move up 8- Lift up the orange bowl 9- Drop the orange bowl in the tray 10- Slightly move your arm up 11- pick the chip packet from the table 12- drop the chip packet in the tray Q: immediate next step? \u003cPRED\u003eA: pick the steel object\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the steel object\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the steel object Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the steel object\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor Q: immediate next step? \u003cPRED\u003eA: pick the steel object\n\u003c/PRED\u003e","video":"6345251897620526979.mp4"}
+{"uid":"13073459151712081280","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove to the right Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4288175111203308038.mp4"}
+{"uid":"7824649959335837143","text":"\u003ctask:success:discrete:True\u003e\npick the chip packet from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick the chip packet from the table\n\u003c/PRED\u003e","video":"16083923111848051673.mp4"}
+{"uid":"9575875765689977095","text":"\u003ctask:success:discrete:True\u003e\nDrop the paper bowl in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Drop the paper bowl in the tray\n\u003c/PRED\u003e","video":"13192709596401903935.mp4"}
+{"uid":"15064638423099669476","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the brush in the container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the brush in the container\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the brush in the container\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor Q: immediate next step? \u003cPRED\u003eA: drop the brush in the container\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the brush in the container Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor. last 20 steps: 1- pick the bowl 2- drop the bowl in the tray 3- Grab the tray 4- Slightly move up 5- Lift up the sponge 6- Drop the sponge in the tray 7- Slightly move up 8- Lift up the orange bowl 9- Drop the orange bowl in the tray 10- Slightly move your arm up 11- pick the chip packet from the table 12- drop the chip packet in the tray 13- lift your arm upwards 14- pick the mini sliver glass from the table 15- drop the mini sliver glass in the tray 16- lift your arm upwards 17- pick the chilli from the table 18- place the chilli in the container 19- move your arm upwards 20- Move close to the brush Q: immediate next step? \u003cPRED\u003eA: drop the brush in the container\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor. last 20 steps: 1- pick the bowl 2- drop the bowl in the tray 3- Grab the tray 4- Slightly move up 5- Lift up the sponge 6- Drop the sponge in the tray 7- Slightly move up 8- Lift up the orange bowl 9- Drop the orange bowl in the tray 10- Slightly move your arm up 11- pick the chip packet from the table 12- drop the chip packet in the tray 13- lift your arm upwards 14- pick the mini sliver glass from the table 15- drop the mini sliver glass in the tray 16- lift your arm upwards 17- pick the chilli from the table 18- place the chilli in the container 19- move your arm upwards 20- Move close to the brush Q: next 5 steps? \u003cPRED\u003eA: 1- drop the brush in the container 2- move your arm up 3- done\n\u003c/PRED\u003e","video":"1134393888902927033.mp4"}
+{"uid":"9878955465093347998","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput pens on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13961393864915484194.mp4"}
+{"uid":"7711295276378693090","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Move close to the brush\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nMove close to the brush Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16573562184613040591.mp4"}
+{"uid":"12421803939178562977","text":"\u003ctask:success:discrete:False\u003e\npick the sponge from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor. last 20 steps: 1- pick the bowl 2- drop the bowl in the tray 3- Grab the tray 4- Slightly move up Q: immediate next step? \u003cPRED\u003eA: pick the sponge from the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the sponge from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the sponge from the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor. last 20 steps: 1- pick the bowl 2- drop the bowl in the tray 3- Grab the tray 4- Slightly move up Q: next 5 steps? \u003cPRED\u003eA: 1- pick the sponge from the table 2- Slightly move up 3- Lift up the orange bowl 4- Drop the orange bowl in the tray 5- Slightly move your arm up\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the sponge from the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor Q: immediate next step? \u003cPRED\u003eA: pick the sponge from the table\n\u003c/PRED\u003e","video":"16345064109839407280.mp4"}
+{"uid":"4253136031797138773","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the plastic bowl in the container\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the plastic bowl in the container Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7142381773276219723.mp4"}
+{"uid":"2100636464848794025","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: get 1 coke and 2 lacroix from the fridge to the counter table. last 20 steps: 1- open the fridge 2- place the can on the table 3- open the fridge Q: immediate next step? \u003cPRED\u003eA: place the can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: get 1 coke and 2 lacroix from the fridge to the counter table. last 20 steps: 1- open the fridge 2- place the can on the table 3- open the fridge Q: next 5 steps? \u003cPRED\u003eA: 1- place the can on the table 2- open the fridge 3- place the can on the table 4- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: get 1 coke and 2 lacroix from the fridge to the counter table Q: immediate next step? \u003cPRED\u003eA: place the can on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the can on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the can on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11118691142126342286.mp4"}
+{"uid":"9838710434910784928","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the plastic fork in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5674814169834882597.mp4"}
+{"uid":"3025312264663166474","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the brown kettle packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10211937872367827026.mp4"}
+{"uid":"2296424782876834760","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor. last 20 steps: 1- pick the bowl 2- drop the bowl in the tray 3- Grab the tray 4- Slightly move up 5- Lift up the sponge 6- Drop the sponge in the tray 7- Slightly move up 8- Lift up the orange bowl 9- Drop the orange bowl in the tray 10- Slightly move your arm up 11- pick the chip packet from the table 12- drop the chip packet in the tray 13- lift your arm upwards 14- pick the mini sliver glass from the table 15- drop the mini sliver glass in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- pick the chilli from the table 2- move your arm upwards 3- Move close to the brush 4- Pick the brush 5- drop the brush in the container\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the chilli from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor Q: immediate next step? \u003cPRED\u003eA: pick the chilli from the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor. last 20 steps: 1- pick the bowl 2- drop the bowl in the tray 3- Grab the tray 4- Slightly move up 5- Lift up the sponge 6- Drop the sponge in the tray 7- Slightly move up 8- Lift up the orange bowl 9- Drop the orange bowl in the tray 10- Slightly move your arm up 11- pick the chip packet from the table 12- drop the chip packet in the tray 13- lift your arm upwards 14- pick the mini sliver glass from the table 15- drop the mini sliver glass in the tray Q: immediate next step? \u003cPRED\u003eA: pick the chilli from the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the chilli from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the chilli from the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the chilli from the table\n\u003c/PRED\u003e","video":"7346753940158759349.mp4"}
+{"uid":"2824694936841017010","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPick the chips packet Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick the chips packet Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick the chips packet\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor. last 20 steps: 1- pick the bowl 2- drop the bowl in the tray 3- Grab the tray 4- Slightly move up 5- Lift up the sponge 6- Drop the sponge in the tray 7- Slightly move up 8- Lift up the orange bowl 9- Drop the orange bowl in the tray 10- Slightly move your arm up Q: immediate next step? \u003cPRED\u003eA: Pick the chips packet\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor. last 20 steps: 1- pick the bowl 2- drop the bowl in the tray 3- Grab the tray 4- Slightly move up 5- Lift up the sponge 6- Drop the sponge in the tray 7- Slightly move up 8- Lift up the orange bowl 9- Drop the orange bowl in the tray 10- Slightly move your arm up Q: next 5 steps? \u003cPRED\u003eA: 1- Pick the chips packet 2- lift your arm upwards 3- pick the mini sliver glass from the table 4- drop the mini sliver glass in the tray 5- lift your arm upwards\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor Q: immediate next step? \u003cPRED\u003eA: Pick the chips packet\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick the chips packet\n\u003c/PRED\u003e","video":"11457359760334065006.mp4"}
+{"uid":"5648821513515244125","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nmove your arm upwards Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor Q: immediate next step? \u003cPRED\u003eA: move your arm upwards\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor. last 20 steps: 1- pick the bowl 2- drop the bowl in the tray 3- Grab the tray 4- Slightly move up 5- Lift up the sponge 6- Drop the sponge in the tray 7- Slightly move up 8- Lift up the orange bowl 9- Drop the orange bowl in the tray 10- Slightly move your arm up 11- pick the chip packet from the table 12- drop the chip packet in the tray 13- lift your arm upwards 14- pick the mini sliver glass from the table Q: immediate next step? \u003cPRED\u003eA: move your arm upwards\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove your arm upwards Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move your arm upwards\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor. last 20 steps: 1- pick the bowl 2- drop the bowl in the tray 3- Grab the tray 4- Slightly move up 5- Lift up the sponge 6- Drop the sponge in the tray 7- Slightly move up 8- Lift up the orange bowl 9- Drop the orange bowl in the tray 10- Slightly move your arm up 11- pick the chip packet from the table 12- drop the chip packet in the tray 13- lift your arm upwards 14- pick the mini sliver glass from the table Q: next 5 steps? \u003cPRED\u003eA: 1- move your arm upwards 2- pick the chilli from the table 3- place the chilli in the container 4- move your arm upwards 5- Move close to the brush\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move your arm upwards\n\u003c/PRED\u003e","video":"9140329512170966345.mp4"}
+{"uid":"156833162484102805","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace green candy in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12132514381244249758.mp4"}
+{"uid":"14460875991886332289","text":"\u003ctask:success:discrete:True\u003e\npick the sponge from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick the sponge from the table\n\u003c/PRED\u003e","video":"9737027247127720970.mp4"}
+{"uid":"17553138708841417773","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput redbull can on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7819324491242634466.mp4"}
+{"uid":"16143785796579472888","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the gray sachet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3956489835696498656.mp4"}
+{"uid":"5937759940057168741","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Grab the paper bowl 2- drop the bowl in the tray 3- Grab the tray 4- Slightly move up 5- Lift up the sponge\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor Q: immediate next step? \u003cPRED\u003eA: Grab the paper bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Grab the paper bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nGrab the paper bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Grab the paper bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Grab the paper bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nGrab the paper bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6017229141587104156.mp4"}
+{"uid":"1805784141389938758","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Pick up the steel glass\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPick up the steel glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2982709633678227333.mp4"}
+{"uid":"5041366915743797017","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove the left potted plant Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15114293923391286765.mp4"}
+{"uid":"16482291461838832640","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the mobile phone in the cart Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4872335002664765690.mp4"}
+{"uid":"5014350610559384201","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor Q: immediate next step? \u003cPRED\u003eA: pick the snack-bag\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the snack-bag\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the snack-bag Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the snack-bag\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the snack-bag Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor. last 20 steps: 1- pick the bowl 2- drop the bowl in the tray 3- Grab the tray 4- Slightly move up 5- Lift up the sponge 6- Drop the sponge in the tray 7- Slightly move up 8- Lift up the orange bowl 9- Drop the orange bowl in the tray 10- Slightly move your arm up Q: immediate next step? \u003cPRED\u003eA: pick the snack-bag\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor. last 20 steps: 1- pick the bowl 2- drop the bowl in the tray 3- Grab the tray 4- Slightly move up 5- Lift up the sponge 6- Drop the sponge in the tray 7- Slightly move up 8- Lift up the orange bowl 9- Drop the orange bowl in the tray 10- Slightly move your arm up Q: next 5 steps? \u003cPRED\u003eA: 1- pick the snack-bag 2- drop the chip packet in the tray 3- lift your arm upwards 4- pick the mini sliver glass from the table 5- drop the mini sliver glass in the tray\n\u003c/PRED\u003e","video":"8124587975988043096.mp4"}
+{"uid":"11545718868249331023","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up the box of golden chai Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the pen holder on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5752583442959210756.mp4"}
+{"uid":"10725919110827665853","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick the cloth\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick the cloth Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8528955257343395664.mp4"}
+{"uid":"12772716648028718134","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace white chip packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6836802327727514380.mp4"}
+{"uid":"9530082448983056161","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the orange on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:False\u003e\nput marker in stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17328365440458180628.mp4"}
+{"uid":"8939134375570668760","text":"\u003ctask:success:discrete:True\u003e\nMove your arm towards the brush Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Move your arm towards the brush\n\u003c/PRED\u003e","video":"2078341764642599142.mp4"}
+{"uid":"5399747613067802096","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the can on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: get 1 coke and 2 lacroix from the fridge to the counter table. last 20 steps: 1- open the fridge 2- place the can on the table 3- open the fridge 4- place the can on the table 5- open the fridge 6- place the can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: get 1 coke and 2 lacroix from the fridge to the counter table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: get 1 coke and 2 lacroix from the fridge to the counter table. last 20 steps: 1- open the fridge 2- place the can on the table 3- open the fridge 4- place the can on the table 5- open the fridge 6- place the can on the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"12081674299189594023.mp4"}
+{"uid":"6803021486266550095","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the star shape object in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13733811033898226583.mp4"}
+{"uid":"6817737561156199728","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the packet into the trash Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14297952986048928683.mp4"}
+{"uid":"1324303503037603348","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPick the brush Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick the brush Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor Q: immediate next step? \u003cPRED\u003eA: Pick the brush\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick the brush\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor. last 20 steps: 1- pick the bowl 2- drop the bowl in the tray 3- Grab the tray 4- Slightly move up 5- Lift up the sponge 6- Drop the sponge in the tray 7- Slightly move up 8- Lift up the orange bowl 9- Drop the orange bowl in the tray 10- Slightly move your arm up 11- pick the chip packet from the table 12- drop the chip packet in the tray 13- lift your arm upwards 14- pick the mini sliver glass from the table 15- drop the mini sliver glass in the tray 16- lift your arm upwards 17- pick the chilli from the table 18- place the chilli in the container 19- move your arm upwards Q: next 5 steps? \u003cPRED\u003eA: 1- Pick the brush 2- move your arm up 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick the brush\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor. last 20 steps: 1- pick the bowl 2- drop the bowl in the tray 3- Grab the tray 4- Slightly move up 5- Lift up the sponge 6- Drop the sponge in the tray 7- Slightly move up 8- Lift up the orange bowl 9- Drop the orange bowl in the tray 10- Slightly move your arm up 11- pick the chip packet from the table 12- drop the chip packet in the tray 13- lift your arm upwards 14- pick the mini sliver glass from the table 15- drop the mini sliver glass in the tray 16- lift your arm upwards 17- pick the chilli from the table 18- place the chilli in the container 19- move your arm upwards Q: immediate next step? \u003cPRED\u003eA: Pick the brush\n\u003c/PRED\u003e","video":"15526796914174737987.mp4"}
+{"uid":"18368209571290188069","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Pick the brush\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPick the brush Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6834867800698206545.mp4"}
+{"uid":"15614657747206675502","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the candy in the brown bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2625376548231750257.mp4"}
+{"uid":"7490659249371991053","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the white packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6436289068254579540.mp4"}
+{"uid":"5897540584354853465","text":"\u003ctask:success:discrete:False\u003e\npull the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor. last 20 steps: 1- pick the bowl 2- drop the bowl in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- pull the tray 2- Slightly move up 3- Lift up the sponge 4- Drop the sponge in the tray 5- Slightly move up\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npull the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor. last 20 steps: 1- pick the bowl 2- drop the bowl in the tray Q: immediate next step? \u003cPRED\u003eA: pull the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pull the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor Q: immediate next step? \u003cPRED\u003eA: pull the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pull the tray\n\u003c/PRED\u003e","video":"6158908775299327082.mp4"}
+{"uid":"10362275491782818761","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the coffee cup lid into the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16711221518447347750.mp4"}
+{"uid":"17280455665243171541","text":"\u003ctask:success:discrete:True\u003e\npick the chilli from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick the chilli from the table\n\u003c/PRED\u003e","video":"5089670629015419933.mp4"}
+{"uid":"1717072902457951397","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor Q: immediate next step? \u003cPRED\u003eA: Release the brush in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nRelease the brush in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor. last 20 steps: 1- pick the bowl 2- drop the bowl in the tray 3- Grab the tray 4- Slightly move up 5- Lift up the sponge 6- Drop the sponge in the tray 7- Slightly move up 8- Lift up the orange bowl 9- Drop the orange bowl in the tray 10- Slightly move your arm up 11- pick the chip packet from the table 12- drop the chip packet in the tray 13- lift your arm upwards 14- pick the mini sliver glass from the table 15- drop the mini sliver glass in the tray 16- lift your arm upwards 17- pick the chilli from the table 18- place the chilli in the container 19- move your arm upwards 20- Move close to the brush Q: immediate next step? \u003cPRED\u003eA: Release the brush in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Release the brush in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Release the brush in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor. last 20 steps: 1- pick the bowl 2- drop the bowl in the tray 3- Grab the tray 4- Slightly move up 5- Lift up the sponge 6- Drop the sponge in the tray 7- Slightly move up 8- Lift up the orange bowl 9- Drop the orange bowl in the tray 10- Slightly move your arm up 11- pick the chip packet from the table 12- drop the chip packet in the tray 13- lift your arm upwards 14- pick the mini sliver glass from the table 15- drop the mini sliver glass in the tray 16- lift your arm upwards 17- pick the chilli from the table 18- place the chilli in the container 19- move your arm upwards 20- Move close to the brush Q: next 5 steps? \u003cPRED\u003eA: 1- Release the brush in the tray 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nRelease the brush in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13035611098276161463.mp4"}
+{"uid":"3664261146562687086","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove out of the room Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1032943784911924224.mp4"}
+{"uid":"16972217255309512319","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pen stand in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16885964087252345218.mp4"}
+{"uid":"12641168163796485419","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pistachio in the paper cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4572801016946142682.mp4"}
+{"uid":"523931835166912221","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop the chilli in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor Q: immediate next step? \u003cPRED\u003eA: Drop the chilli in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrop the chilli in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop the chilli in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor. last 20 steps: 1- pick the bowl 2- drop the bowl in the tray 3- Grab the tray 4- Slightly move up 5- Lift up the sponge 6- Drop the sponge in the tray 7- Slightly move up 8- Lift up the orange bowl 9- Drop the orange bowl in the tray 10- Slightly move your arm up 11- pick the chip packet from the table 12- drop the chip packet in the tray 13- lift your arm upwards 14- pick the mini sliver glass from the table 15- drop the mini sliver glass in the tray 16- lift your arm upwards 17- pick the chilli from the table Q: next 5 steps? \u003cPRED\u003eA: 1- Drop the chilli in the tray 2- Move close to the brush 3- Pick the brush 4- drop the brush in the container 5- move your arm up\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor. last 20 steps: 1- pick the bowl 2- drop the bowl in the tray 3- Grab the tray 4- Slightly move up 5- Lift up the sponge 6- Drop the sponge in the tray 7- Slightly move up 8- Lift up the orange bowl 9- Drop the orange bowl in the tray 10- Slightly move your arm up 11- pick the chip packet from the table 12- drop the chip packet in the tray 13- lift your arm upwards 14- pick the mini sliver glass from the table 15- drop the mini sliver glass in the tray 16- lift your arm upwards 17- pick the chilli from the table Q: immediate next step? \u003cPRED\u003eA: Drop the chilli in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop the chilli in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17428279827641334973.mp4"}
+{"uid":"6383248082060443838","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pull the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drag the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pull the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor. last 20 steps: 1- pick the bowl Q: immediate next step? \u003cPRED\u003eA: Drag the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor Q: immediate next step? \u003cPRED\u003eA: pull the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor. last 20 steps: 1- pick the bowl Q: immediate next step? \u003cPRED\u003eA: pull the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drag the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor. last 20 steps: 1- pick the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Drag the tray 2- Lift up the sponge 3- Drop the sponge in the tray 4- Slightly move up 5- Lift up the orange bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrag the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npull the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npull the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrag the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor Q: immediate next step? \u003cPRED\u003eA: Drag the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor. last 20 steps: 1- pick the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- pull the tray 2- Slightly move up 3- Lift up the sponge 4- Drop the sponge in the tray 5- Slightly move up\n\u003c/PRED\u003e","video":"9045801386033013216.mp4"}
+{"uid":"4680789223519781786","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Lift up the sponge\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Lift up the sponge\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nLift up the sponge Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor Q: immediate next step? \u003cPRED\u003eA: Lift up the sponge\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nLift up the sponge Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor. last 20 steps: 1- pick the bowl 2- drop the bowl in the tray 3- Grab the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Lift up the sponge 2- Slightly move up 3- Lift up the orange bowl 4- Drop the orange bowl in the tray 5- Slightly move your arm up\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor. last 20 steps: 1- pick the bowl 2- drop the bowl in the tray 3- Grab the tray Q: immediate next step? \u003cPRED\u003eA: Lift up the sponge\n\u003c/PRED\u003e","video":"13287585726071478992.mp4"}
+{"uid":"193585313683259948","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the sugar packet in the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11223845044372028436.mp4"}
+{"uid":"2587417316336507783","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop the paper bowl in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrop the paper bowl in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor Q: immediate next step? \u003cPRED\u003eA: Drop the paper bowl in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Drop the paper bowl in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop the paper bowl in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop the paper bowl in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Drop the paper bowl in the tray 2- Slightly move up 3- Lift up the sponge 4- Drop the sponge in the tray 5- Slightly move up\n\u003c/PRED\u003e","video":"11487619525468954040.mp4"}
+{"uid":"7975071871912345647","text":"\u003ctask:success:discrete:True\u003e\nDrop the chilli in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Drop the chilli in the tray\n\u003c/PRED\u003e","video":"14957841138421315076.mp4"}
+{"uid":"6332142737889661577","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace red packet in white tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4520958229275588386.mp4"}
+{"uid":"7314822733702835488","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the forks in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7925607454241610914.mp4"}
+{"uid":"13373008249879845038","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the orange on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2127330980219739986.mp4"}
+{"uid":"11467872957579058888","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the red packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17288518399928691859.mp4"}
+{"uid":"16432015461399627597","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput candy in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11883825369571862865.mp4"}
+{"uid":"7062526524972743044","text":"\u003ctask:success:discrete:False\u003e\nlift your arm upwards Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor. last 20 steps: 1- pick the bowl 2- drop the bowl in the tray 3- Grab the tray 4- Slightly move up 5- Lift up the sponge 6- Drop the sponge in the tray 7- Slightly move up 8- Lift up the orange bowl 9- Drop the orange bowl in the tray 10- Slightly move your arm up 11- pick the chip packet from the table Q: immediate next step? \u003cPRED\u003eA: lift your arm upwards\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor Q: immediate next step? \u003cPRED\u003eA: lift your arm upwards\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nlift your arm upwards Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: lift your arm upwards\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor. last 20 steps: 1- pick the bowl 2- drop the bowl in the tray 3- Grab the tray 4- Slightly move up 5- Lift up the sponge 6- Drop the sponge in the tray 7- Slightly move up 8- Lift up the orange bowl 9- Drop the orange bowl in the tray 10- Slightly move your arm up 11- pick the chip packet from the table Q: next 5 steps? \u003cPRED\u003eA: 1- lift your arm upwards 2- drop the mini sliver glass in the tray 3- lift your arm upwards 4- pick the chilli from the table 5- place the chilli in the container\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: lift your arm upwards\n\u003c/PRED\u003e","video":"12273403442456590233.mp4"}
+{"uid":"6306656267222319388","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the orange duck in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8362800365657997132.mp4"}
+{"uid":"12971040139578609767","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the chilli Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor. last 20 steps: 1- pick the bowl 2- drop the bowl in the tray 3- Grab the tray 4- Slightly move up 5- Lift up the sponge 6- Drop the sponge in the tray 7- Slightly move up 8- Lift up the orange bowl 9- Drop the orange bowl in the tray 10- Slightly move your arm up 11- pick the chip packet from the table 12- drop the chip packet in the tray 13- lift your arm upwards 14- pick the mini sliver glass from the table 15- drop the mini sliver glass in the tray Q: immediate next step? \u003cPRED\u003eA: Pick up the chilli\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor Q: immediate next step? \u003cPRED\u003eA: Pick up the chilli\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the chilli\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the chilli\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the chilli Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor. last 20 steps: 1- pick the bowl 2- drop the bowl in the tray 3- Grab the tray 4- Slightly move up 5- Lift up the sponge 6- Drop the sponge in the tray 7- Slightly move up 8- Lift up the orange bowl 9- Drop the orange bowl in the tray 10- Slightly move your arm up 11- pick the chip packet from the table 12- drop the chip packet in the tray 13- lift your arm upwards 14- pick the mini sliver glass from the table 15- drop the mini sliver glass in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the chilli 2- move your arm upwards 3- Move close to the brush 4- Pick the brush 5- drop the brush in the container\n\u003c/PRED\u003e","video":"3696261413281739485.mp4"}
+{"uid":"18256032181101289882","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Slightly move to the right\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nSlightly move to the right Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nSlightly move to the right Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: pick the paper bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Slightly move to the right\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor Q: immediate next step? \u003cPRED\u003eA: Slightly move to the right\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Slightly move to the right 2- drop the bowl in the tray 3- Grab the tray 4- Slightly move up 5- Lift up the sponge\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Slightly move to the right\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor Q: immediate next step? \u003cPRED\u003eA: pick the paper bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the paper bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the paper bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- pick the paper bowl 2- Grab the tray 3- Slightly move up 4- Lift up the sponge 5- Drop the sponge in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the paper bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the paper bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12709467417989282800.mp4"}
+{"uid":"5531243368145485944","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the pistachio in a cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18231220048674698509.mp4"}
+{"uid":"8466496922124234265","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack the disposal glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16547730798884427791.mp4"}
+{"uid":"6919755560577959197","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the paper bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: pick the paper bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the paper bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor Q: immediate next step? \u003cPRED\u003eA: pick the paper bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- pick the paper bowl 2- drop the bowl in the tray 3- Grab the tray 4- Slightly move up 5- Lift up the sponge\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the paper bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8578924665466416833.mp4"}
+{"uid":"225336491904876529","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor. last 20 steps: 1- pick the bowl 2- drop the bowl in the tray 3- Grab the tray 4- Slightly move up 5- Lift up the sponge 6- Drop the sponge in the tray 7- Slightly move up 8- Lift up the orange bowl 9- Drop the orange bowl in the tray 10- Slightly move your arm up 11- pick the chip packet from the table 12- drop the chip packet in the tray 13- lift your arm upwards 14- pick the mini sliver glass from the table 15- drop the mini sliver glass in the tray 16- lift your arm upwards Q: immediate next step? \u003cPRED\u003eA: pick the chilli\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor Q: immediate next step? \u003cPRED\u003eA: pick the chilli\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the chilli Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor. last 20 steps: 1- pick the bowl 2- drop the bowl in the tray 3- Grab the tray 4- Slightly move up 5- Lift up the sponge 6- Drop the sponge in the tray 7- Slightly move up 8- Lift up the orange bowl 9- Drop the orange bowl in the tray 10- Slightly move your arm up 11- pick the chip packet from the table 12- drop the chip packet in the tray 13- lift your arm upwards 14- pick the mini sliver glass from the table 15- drop the mini sliver glass in the tray 16- lift your arm upwards Q: next 5 steps? \u003cPRED\u003eA: 1- pick the chilli 2- move your arm upwards 3- Move close to the brush 4- Pick the brush 5- drop the brush in the container\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the chilli\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the chilli\n\u003c/PRED\u003e","video":"13962229229414999633.mp4"}
+{"uid":"8054971339364174527","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\npick the brush Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor Q: immediate next step? \u003cPRED\u003eA: pick the brush\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the brush\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor. last 20 steps: 1- pick the bowl 2- drop the bowl in the tray 3- Grab the tray 4- Slightly move up 5- Lift up the sponge 6- Drop the sponge in the tray 7- Slightly move up 8- Lift up the orange bowl 9- Drop the orange bowl in the tray 10- Slightly move your arm up 11- pick the chip packet from the table 12- drop the chip packet in the tray 13- lift your arm upwards 14- pick the mini sliver glass from the table 15- drop the mini sliver glass in the tray 16- lift your arm upwards 17- pick the chilli from the table 18- place the chilli in the container 19- move your arm upwards Q: next 5 steps? \u003cPRED\u003eA: 1- pick the brush 2- move your arm up 3- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the brush\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the brush Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor. last 20 steps: 1- pick the bowl 2- drop the bowl in the tray 3- Grab the tray 4- Slightly move up 5- Lift up the sponge 6- Drop the sponge in the tray 7- Slightly move up 8- Lift up the orange bowl 9- Drop the orange bowl in the tray 10- Slightly move your arm up 11- pick the chip packet from the table 12- drop the chip packet in the tray 13- lift your arm upwards 14- pick the mini sliver glass from the table 15- drop the mini sliver glass in the tray 16- lift your arm upwards 17- pick the chilli from the table 18- place the chilli in the container 19- move your arm upwards Q: immediate next step? \u003cPRED\u003eA: pick the brush\n\u003c/PRED\u003e","video":"1505642405349831368.mp4"}
+{"uid":"349811920967746982","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Take the trash off the table in the roon and throw it away. Then come back and close the door Q: immediate next step? \u003cPRED\u003eA: close the door\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take the trash off the table in the roon and throw it away. Then come back and close the door. last 20 steps: 1- pick up the plastic 2- put the plastic in the dustbin Q: next 5 steps? \u003cPRED\u003eA: 1- close the door 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nclose the door Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: close the door\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: close the door\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take the trash off the table in the roon and throw it away. Then come back and close the door. last 20 steps: 1- pick up the plastic 2- put the plastic in the dustbin Q: immediate next step? \u003cPRED\u003eA: close the door\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nclose the door Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13082799778188989590.mp4"}
+{"uid":"12686025380829386743","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the mini sliver glass in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the mini sliver glass in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the mini sliver glass in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the mini sliver glass in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor Q: immediate next step? \u003cPRED\u003eA: drop the mini sliver glass in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor. last 20 steps: 1- pick the bowl 2- drop the bowl in the tray 3- Grab the tray 4- Slightly move up 5- Lift up the sponge 6- Drop the sponge in the tray 7- Slightly move up 8- Lift up the orange bowl 9- Drop the orange bowl in the tray 10- Slightly move your arm up 11- pick the chip packet from the table 12- drop the chip packet in the tray 13- lift your arm upwards Q: next 5 steps? \u003cPRED\u003eA: 1- drop the mini sliver glass in the tray 2- lift your arm upwards 3- pick the chilli from the table 4- place the chilli in the container 5- move your arm upwards\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor. last 20 steps: 1- pick the bowl 2- drop the bowl in the tray 3- Grab the tray 4- Slightly move up 5- Lift up the sponge 6- Drop the sponge in the tray 7- Slightly move up 8- Lift up the orange bowl 9- Drop the orange bowl in the tray 10- Slightly move your arm up 11- pick the chip packet from the table 12- drop the chip packet in the tray 13- lift your arm upwards Q: immediate next step? \u003cPRED\u003eA: drop the mini sliver glass in the tray\n\u003c/PRED\u003e","video":"10968884364447001184.mp4"}
+{"uid":"3593889078990919606","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Release the chips packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nRelease the chips packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Release the chips packet in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nRelease the chips packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor. last 20 steps: 1- pick the bowl 2- drop the bowl in the tray 3- Grab the tray 4- Slightly move up 5- Lift up the sponge 6- Drop the sponge in the tray 7- Slightly move up 8- Lift up the orange bowl 9- Drop the orange bowl in the tray 10- Slightly move your arm up 11- pick the chip packet from the table Q: immediate next step? \u003cPRED\u003eA: Release the chips packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor Q: immediate next step? \u003cPRED\u003eA: Release the chips packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor. last 20 steps: 1- pick the bowl 2- drop the bowl in the tray 3- Grab the tray 4- Slightly move up 5- Lift up the sponge 6- Drop the sponge in the tray 7- Slightly move up 8- Lift up the orange bowl 9- Drop the orange bowl in the tray 10- Slightly move your arm up 11- pick the chip packet from the table Q: next 5 steps? \u003cPRED\u003eA: 1- Release the chips packet in the tray 2- pick the mini sliver glass from the table 3- drop the mini sliver glass in the tray 4- lift your arm upwards 5- pick the chilli from the table\n\u003c/PRED\u003e","video":"10884084337723089008.mp4"}
+{"uid":"5031751741648150804","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the sticky note in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8954305009836660563.mp4"}
+{"uid":"13667338762448380376","text":"\u003ctask:success:discrete:True\u003e\nplace the chilli in the container Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the chilli in the container\n\u003c/PRED\u003e","video":"6786109374334022889.mp4"}
+{"uid":"14084189976484595510","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nSlightly push the top left plant to the right Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12735669018060681536.mp4"}
+{"uid":"197612481348032113","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the plastic\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the plastic Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Take the trash off the table in the roon and throw it away. Then come back and close the door Q: immediate next step? \u003cPRED\u003eA: pick up the plastic\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the plastic\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take the trash off the table in the roon and throw it away. Then come back and close the door. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the plastic 2- put the plastic in the dustbin 3- close the door 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take the trash off the table in the roon and throw it away. Then come back and close the door. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: pick up the plastic\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the plastic Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17281391499048135858.mp4"}
+{"uid":"10632224402531618324","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the apple in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12788442381993371381.mp4"}
+{"uid":"15125154423754061612","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: lift your arm upwards\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nlift your arm upwards Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7519876354376024592.mp4"}
+{"uid":"1952245203367499710","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor. last 20 steps: 1- pick the bowl 2- drop the bowl in the tray 3- Grab the tray Q: immediate next step? \u003cPRED\u003eA: lift your arm\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nlift your arm Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: lift your arm\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor Q: immediate next step? \u003cPRED\u003eA: lift your arm\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: lift your arm\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor. last 20 steps: 1- pick the bowl 2- drop the bowl in the tray 3- Grab the tray Q: next 5 steps? \u003cPRED\u003eA: 1- lift your arm 2- Drop the sponge in the tray 3- Slightly move up 4- Lift up the orange bowl 5- Drop the orange bowl in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nlift your arm Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3602312617127822690.mp4"}
+{"uid":"247182054374389359","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the cover on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14737970411580958284.mp4"}
+{"uid":"3730448710855862651","text":"\u003ctask:success:discrete:True\u003e\ndrop the paper bowl in the container Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the paper bowl in the container\n\u003c/PRED\u003e","video":"1449701673173131782.mp4"}
+{"uid":"8475837811524678475","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the snack-bag in the container\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop the snack-bag in the container Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13248868460856612682.mp4"}
+{"uid":"18003691961557412029","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the cart near the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15009867472610601152.mp4"}
+{"uid":"15349301535908719988","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput a knife in the paper cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8318928294428738109.mp4"}
+{"uid":"14848868801628028491","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the pen in the right holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8657460214232091564.mp4"}
+{"uid":"4833937402119439771","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor. last 20 steps: 1- pick the bowl 2- drop the bowl in the tray 3- Grab the tray 4- Slightly move up 5- Lift up the sponge 6- Drop the sponge in the tray 7- Slightly move up 8- Lift up the orange bowl 9- Drop the orange bowl in the tray 10- Slightly move your arm up 11- pick the chip packet from the table 12- drop the chip packet in the tray 13- lift your arm upwards 14- pick the mini sliver glass from the table 15- drop the mini sliver glass in the tray 16- lift your arm upwards 17- pick the chilli from the table 18- place the chilli in the container 19- move your arm upwards Q: next 5 steps? \u003cPRED\u003eA: 1- Move close to the brush 2- drop the brush in the container 3- move your arm up 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor. last 20 steps: 1- pick the bowl 2- drop the bowl in the tray 3- Grab the tray 4- Slightly move up 5- Lift up the sponge 6- Drop the sponge in the tray 7- Slightly move up 8- Lift up the orange bowl 9- Drop the orange bowl in the tray 10- Slightly move your arm up 11- pick the chip packet from the table 12- drop the chip packet in the tray 13- lift your arm upwards 14- pick the mini sliver glass from the table 15- drop the mini sliver glass in the tray 16- lift your arm upwards 17- pick the chilli from the table 18- place the chilli in the container 19- move your arm upwards Q: immediate next step? \u003cPRED\u003eA: Move close to the brush\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move close to the brush\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove close to the brush Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor Q: immediate next step? \u003cPRED\u003eA: Move close to the brush\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move close to the brush\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove close to the brush Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2014878179087041237.mp4"}
+{"uid":"240312647529006860","text":"\u003ctask:success:discrete:True\u003e\ndrop the chilli in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the chilli in the tray\n\u003c/PRED\u003e","video":"2090383574095256421.mp4"}
+{"uid":"6377770699529257276","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput fork in the fork holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the sticky note in the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8390008478553104157.mp4"}
+{"uid":"10974810764182741882","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick the paper bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick the paper bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14318530606702086878.mp4"}
+{"uid":"12812828234431708885","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor. last 20 steps: 1- pick the bowl 2- drop the bowl in the tray 3- Grab the tray 4- Slightly move up Q: immediate next step? \u003cPRED\u003eA: Drop the sponge in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor Q: immediate next step? \u003cPRED\u003eA: Drop the sponge in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor. last 20 steps: 1- pick the bowl 2- drop the bowl in the tray 3- Grab the tray 4- Slightly move up Q: next 5 steps? \u003cPRED\u003eA: 1- Drop the sponge in the tray 2- Lift up the orange bowl 3- Drop the orange bowl in the tray 4- Slightly move your arm up 5- pick the chip packet from the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop the sponge in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop the sponge in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrop the sponge in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop the sponge in the tray\n\u003c/PRED\u003e","video":"2418787386441971396.mp4"}
+{"uid":"17725691787125658705","text":"\u003ctask:success:discrete:True\u003e\npick the steel object Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick the steel object\n\u003c/PRED\u003e","video":"2112592233933683919.mp4"}
+{"uid":"16788694748707406436","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput marker in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14015815908652587650.mp4"}
+{"uid":"2149435360366052284","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput pistachios in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17600379358037767835.mp4"}
+{"uid":"17744534559252954853","text":"\u003ctask:success:discrete:True\u003e\npull the container Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pull the container\n\u003c/PRED\u003e","video":"11874878958809469847.mp4"}
+{"uid":"15859087835904402103","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor. last 20 steps: 1- pick the bowl 2- drop the bowl in the tray 3- Grab the tray 4- Slightly move up 5- Lift up the sponge 6- Drop the sponge in the tray 7- Slightly move up 8- Lift up the orange bowl 9- Drop the orange bowl in the tray 10- Slightly move your arm up 11- pick the chip packet from the table 12- drop the chip packet in the tray 13- lift your arm upwards 14- pick the mini sliver glass from the table 15- drop the mini sliver glass in the tray 16- lift your arm upwards 17- pick the chilli from the table Q: immediate next step? \u003cPRED\u003eA: drop the chilli in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the chilli in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor. last 20 steps: 1- pick the bowl 2- drop the bowl in the tray 3- Grab the tray 4- Slightly move up 5- Lift up the sponge 6- Drop the sponge in the tray 7- Slightly move up 8- Lift up the orange bowl 9- Drop the orange bowl in the tray 10- Slightly move your arm up 11- pick the chip packet from the table 12- drop the chip packet in the tray 13- lift your arm upwards 14- pick the mini sliver glass from the table 15- drop the mini sliver glass in the tray 16- lift your arm upwards 17- pick the chilli from the table Q: next 5 steps? \u003cPRED\u003eA: 1- drop the chilli in the tray 2- move your arm upwards 3- Move close to the brush 4- Pick the brush 5- drop the brush in the container\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the chilli in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor Q: immediate next step? \u003cPRED\u003eA: drop the chilli in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the chilli in the tray\n\u003c/PRED\u003e","video":"2483178934442986570.mp4"}
+{"uid":"10386570768088556737","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the brush\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the brush Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor. last 20 steps: 1- pick the bowl 2- drop the bowl in the tray 3- Grab the tray 4- Slightly move up 5- Lift up the sponge 6- Drop the sponge in the tray 7- Slightly move up 8- Lift up the orange bowl 9- Drop the orange bowl in the tray 10- Slightly move your arm up 11- pick the chip packet from the table 12- drop the chip packet in the tray 13- lift your arm upwards 14- pick the mini sliver glass from the table 15- drop the mini sliver glass in the tray 16- lift your arm upwards 17- pick the chilli from the table 18- place the chilli in the container 19- move your arm upwards Q: immediate next step? \u003cPRED\u003eA: Pick up the brush\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the brush Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the brush\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor Q: immediate next step? \u003cPRED\u003eA: Pick up the brush\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor. last 20 steps: 1- pick the bowl 2- drop the bowl in the tray 3- Grab the tray 4- Slightly move up 5- Lift up the sponge 6- Drop the sponge in the tray 7- Slightly move up 8- Lift up the orange bowl 9- Drop the orange bowl in the tray 10- Slightly move your arm up 11- pick the chip packet from the table 12- drop the chip packet in the tray 13- lift your arm upwards 14- pick the mini sliver glass from the table 15- drop the mini sliver glass in the tray 16- lift your arm upwards 17- pick the chilli from the table 18- place the chilli in the container 19- move your arm upwards Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the brush 2- move your arm up 3- done\n\u003c/PRED\u003e","video":"17696698799754837132.mp4"}
+{"uid":"13667046011897783911","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- drop the bowl in the tray 2- Slightly move up 3- Lift up the sponge 4- Drop the sponge in the tray 5- Slightly move up\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the bowl in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the bowl in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: drop the bowl in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the bowl in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor Q: immediate next step? \u003cPRED\u003eA: drop the bowl in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the bowl in the tray\n\u003c/PRED\u003e","video":"14928548399541803797.mp4"}
+{"uid":"14735618957280624905","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick the mini steel glass\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick the mini steel glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6368807314080899862.mp4"}
+{"uid":"17573756420269723354","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4988526978831764758.mp4"}
+{"uid":"8205351607716228777","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the plastic in the dustbin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take the trash off the table in the roon and throw it away. Then come back and close the door. last 20 steps: 1- pick up the plastic Q: next 5 steps? \u003cPRED\u003eA: 1- put the plastic in the dustbin 2- close the door 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take the trash off the table in the roon and throw it away. Then come back and close the door. last 20 steps: 1- pick up the plastic Q: immediate next step? \u003cPRED\u003eA: put the plastic in the dustbin\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the plastic in the dustbin\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the plastic in the dustbin\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the plastic in the dustbin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Take the trash off the table in the roon and throw it away. Then come back and close the door Q: immediate next step? \u003cPRED\u003eA: put the plastic in the dustbin\n\u003c/PRED\u003e","video":"11125600195004224138.mp4"}
+{"uid":"8799922863350201541","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Release the brush in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor. last 20 steps: 1- drop the bowl in the tray 2- Grab the tray 3- Slightly move up 4- Lift up the sponge 5- Drop the sponge in the tray 6- Slightly move up 7- Lift up the orange bowl 8- Drop the orange bowl in the tray 9- Slightly move your arm up 10- pick the chip packet from the table 11- drop the chip packet in the tray 12- lift your arm upwards 13- pick the mini sliver glass from the table 14- drop the mini sliver glass in the tray 15- lift your arm upwards 16- pick the chilli from the table 17- place the chilli in the container 18- move your arm upwards 19- Move close to the brush 20- Release the brush in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nRelease the brush in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor. last 20 steps: 1- drop the bowl in the tray 2- Grab the tray 3- Slightly move up 4- Lift up the sponge 5- Drop the sponge in the tray 6- Slightly move up 7- Lift up the orange bowl 8- Drop the orange bowl in the tray 9- Slightly move your arm up 10- pick the chip packet from the table 11- drop the chip packet in the tray 12- lift your arm upwards 13- pick the mini sliver glass from the table 14- drop the mini sliver glass in the tray 15- lift your arm upwards 16- pick the chilli from the table 17- place the chilli in the container 18- move your arm upwards 19- Move close to the brush 20- Release the brush in the tray Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"7421028424248485071.mp4"}
+{"uid":"7587262555803196506","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick the brush\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick the brush Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1975995185837590968.mp4"}
+{"uid":"6456388781774320764","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the brush in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor Q: immediate next step? \u003cPRED\u003eA: drop the brush in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor. last 20 steps: 1- drop the bowl in the tray 2- Grab the tray 3- Slightly move up 4- Lift up the sponge 5- Drop the sponge in the tray 6- Slightly move up 7- Lift up the orange bowl 8- Drop the orange bowl in the tray 9- Slightly move your arm up 10- pick the chip packet from the table 11- drop the chip packet in the tray 12- lift your arm upwards 13- pick the mini sliver glass from the table 14- drop the mini sliver glass in the tray 15- lift your arm upwards 16- pick the chilli from the table 17- place the chilli in the container 18- move your arm upwards 19- Move close to the brush 20- Pick the brush Q: immediate next step? \u003cPRED\u003eA: drop the brush in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the brush in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the brush in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor. last 20 steps: 1- drop the bowl in the tray 2- Grab the tray 3- Slightly move up 4- Lift up the sponge 5- Drop the sponge in the tray 6- Slightly move up 7- Lift up the orange bowl 8- Drop the orange bowl in the tray 9- Slightly move your arm up 10- pick the chip packet from the table 11- drop the chip packet in the tray 12- lift your arm upwards 13- pick the mini sliver glass from the table 14- drop the mini sliver glass in the tray 15- lift your arm upwards 16- pick the chilli from the table 17- place the chilli in the container 18- move your arm upwards 19- Move close to the brush 20- Pick the brush Q: next 5 steps? \u003cPRED\u003eA: 1- drop the brush in the tray 2- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the brush in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8207892046208272891.mp4"}
+{"uid":"4481455673541057837","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput cookie on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1016721368295513753.mp4"}
+{"uid":"10778130162073179640","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nRelease the red bowl in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nRelease the red bowl in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor Q: immediate next step? \u003cPRED\u003eA: Release the red bowl in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Release the red bowl in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor. last 20 steps: 1- pick the bowl 2- drop the bowl in the tray 3- Grab the tray 4- Slightly move up 5- Lift up the sponge 6- Drop the sponge in the tray 7- Slightly move up 8- Lift up the orange bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Release the red bowl in the tray 2- pick the chip packet from the table 3- drop the chip packet in the tray 4- lift your arm upwards 5- pick the mini sliver glass from the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor. last 20 steps: 1- pick the bowl 2- drop the bowl in the tray 3- Grab the tray 4- Slightly move up 5- Lift up the sponge 6- Drop the sponge in the tray 7- Slightly move up 8- Lift up the orange bowl Q: immediate next step? \u003cPRED\u003eA: Release the red bowl in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Release the red bowl in the tray\n\u003c/PRED\u003e","video":"9772360718026025222.mp4"}
+{"uid":"755615135111053301","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: get 1 coke and 2 lacroix from the fridge to the counter table. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: open the fridge\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nopen the fridge Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open the fridge\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nopen the fridge Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open the fridge\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: get 1 coke and 2 lacroix from the fridge to the counter table Q: immediate next step? \u003cPRED\u003eA: open the fridge\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: get 1 coke and 2 lacroix from the fridge to the counter table. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- open the fridge 2- place the can on the table 3- open the fridge 4- place the can on the table 5- open the fridge\n\u003c/PRED\u003e","video":"7958845690226690086.mp4"}
+{"uid":"11581721815235569894","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop pen into stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"213328406033332733.mp4"}
+{"uid":"1014452934422380601","text":"\u003ctask:success:discrete:False\u003e\npick the chip packet from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the chip packet from the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the chip packet from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor Q: immediate next step? \u003cPRED\u003eA: pick the chip packet from the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the chip packet from the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor. last 20 steps: 1- pick the bowl 2- drop the bowl in the tray 3- Grab the tray 4- Slightly move up 5- Lift up the sponge 6- Drop the sponge in the tray 7- Slightly move up 8- Lift up the orange bowl 9- Drop the orange bowl in the tray 10- Slightly move your arm up Q: next 5 steps? \u003cPRED\u003eA: 1- pick the chip packet from the table 2- lift your arm upwards 3- pick the mini sliver glass from the table 4- drop the mini sliver glass in the tray 5- lift your arm upwards\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor. last 20 steps: 1- pick the bowl 2- drop the bowl in the tray 3- Grab the tray 4- Slightly move up 5- Lift up the sponge 6- Drop the sponge in the tray 7- Slightly move up 8- Lift up the orange bowl 9- Drop the orange bowl in the tray 10- Slightly move your arm up Q: immediate next step? \u003cPRED\u003eA: pick the chip packet from the table\n\u003c/PRED\u003e","video":"1765080322714383269.mp4"}
+{"uid":"11005824854021327803","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput candy in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11374828323256882371.mp4"}
+{"uid":"1007544540424706350","text":"\u003ctask:success:discrete:False\u003e\npick the sponge Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the sponge\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the sponge Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor. last 20 steps: 1- pick the bowl 2- drop the bowl in the tray 3- Grab the tray 4- Slightly move up Q: next 5 steps? \u003cPRED\u003eA: 1- pick the sponge 2- Slightly move up 3- Lift up the orange bowl 4- Drop the orange bowl in the tray 5- Slightly move your arm up\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the sponge\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor Q: immediate next step? \u003cPRED\u003eA: pick the sponge\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor. last 20 steps: 1- pick the bowl 2- drop the bowl in the tray 3- Grab the tray 4- Slightly move up Q: immediate next step? \u003cPRED\u003eA: pick the sponge\n\u003c/PRED\u003e","video":"15161493962062236543.mp4"}
+{"uid":"14315431288155583652","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the mini steel glass in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor. last 20 steps: 1- pick the bowl 2- drop the bowl in the tray 3- Grab the tray 4- Slightly move up 5- Lift up the sponge 6- Drop the sponge in the tray 7- Slightly move up 8- Lift up the orange bowl 9- Drop the orange bowl in the tray 10- Slightly move your arm up 11- pick the chip packet from the table 12- drop the chip packet in the tray 13- lift your arm upwards 14- pick the mini sliver glass from the table Q: immediate next step? \u003cPRED\u003eA: drop the mini steel glass in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor. last 20 steps: 1- pick the bowl 2- drop the bowl in the tray 3- Grab the tray 4- Slightly move up 5- Lift up the sponge 6- Drop the sponge in the tray 7- Slightly move up 8- Lift up the orange bowl 9- Drop the orange bowl in the tray 10- Slightly move your arm up 11- pick the chip packet from the table 12- drop the chip packet in the tray 13- lift your arm upwards 14- pick the mini sliver glass from the table Q: next 5 steps? \u003cPRED\u003eA: 1- drop the mini steel glass in the tray 2- lift your arm upwards 3- pick the chilli from the table 4- place the chilli in the container 5- move your arm upwards\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the mini steel glass in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor Q: immediate next step? \u003cPRED\u003eA: drop the mini steel glass in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the mini steel glass in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the mini steel glass in the tray\n\u003c/PRED\u003e","video":"16318574519246314439.mp4"}
+{"uid":"4067691020969622407","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the snack-bag in the container\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor. last 20 steps: 1- pick the bowl 2- drop the bowl in the tray 3- Grab the tray 4- Slightly move up 5- Lift up the sponge 6- Drop the sponge in the tray 7- Slightly move up 8- Lift up the orange bowl 9- Drop the orange bowl in the tray 10- Slightly move your arm up Q: next 5 steps? \u003cPRED\u003eA: 1- drop the snack-bag in the container 2- lift your arm upwards 3- pick the mini sliver glass from the table 4- drop the mini sliver glass in the tray 5- lift your arm upwards\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the snack-bag in the container Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the snack-bag in the container\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor Q: immediate next step? \u003cPRED\u003eA: drop the snack-bag in the container\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the snack-bag in the container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor. last 20 steps: 1- pick the bowl 2- drop the bowl in the tray 3- Grab the tray 4- Slightly move up 5- Lift up the sponge 6- Drop the sponge in the tray 7- Slightly move up 8- Lift up the orange bowl 9- Drop the orange bowl in the tray 10- Slightly move your arm up Q: immediate next step? \u003cPRED\u003eA: drop the snack-bag in the container\n\u003c/PRED\u003e","video":"16580958519879228155.mp4"}
+{"uid":"381125929624235604","text":"\u003ctask:success:discrete:False\u003e\nMove your arm towards the sponge Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor. last 20 steps: 1- pick the bowl 2- drop the bowl in the tray 3- Grab the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Move your arm towards the sponge 2- Drop the sponge in the tray 3- Slightly move up 4- Lift up the orange bowl 5- Drop the orange bowl in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove your arm towards the sponge Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move your arm towards the sponge\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor. last 20 steps: 1- pick the bowl 2- drop the bowl in the tray 3- Grab the tray Q: immediate next step? \u003cPRED\u003eA: Move your arm towards the sponge\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor Q: immediate next step? \u003cPRED\u003eA: Move your arm towards the sponge\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move your arm towards the sponge\n\u003c/PRED\u003e","video":"14014526257717812154.mp4"}
+{"uid":"16424832926175357421","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nopen the fridge Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: get 1 coke and 2 lacroix from the fridge to the counter table. last 20 steps: 1- open the fridge 2- place the can on the table 3- open the fridge 4- place the can on the table Q: immediate next step? \u003cPRED\u003eA: open the fridge\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open the fridge\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nopen the fridge Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: get 1 coke and 2 lacroix from the fridge to the counter table Q: immediate next step? \u003cPRED\u003eA: open the fridge\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open the fridge\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: get 1 coke and 2 lacroix from the fridge to the counter table. last 20 steps: 1- open the fridge 2- place the can on the table 3- open the fridge 4- place the can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- open the fridge 2- place the can on the table 3- done\n\u003c/PRED\u003e","video":"4260369392758418311.mp4"}
+{"uid":"10093318674074756257","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace candy in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"829715162040668381.mp4"}
+{"uid":"15655286291283842380","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nSlightly move up Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor. last 20 steps: 1- pick the bowl 2- drop the bowl in the tray 3- Grab the tray 4- Slightly move up 5- Lift up the sponge Q: next 5 steps? \u003cPRED\u003eA: 1- Slightly move up 2- Drop the orange bowl in the tray 3- Slightly move your arm up 4- pick the chip packet from the table 5- drop the chip packet in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nSlightly move up Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor Q: immediate next step? \u003cPRED\u003eA: Slightly move up\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Slightly move up\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor. last 20 steps: 1- pick the bowl 2- drop the bowl in the tray 3- Grab the tray 4- Slightly move up 5- Lift up the sponge Q: immediate next step? \u003cPRED\u003eA: Slightly move up\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Slightly move up\n\u003c/PRED\u003e","video":"8737886154230589121.mp4"}
+{"uid":"2165126555889685990","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: lift your arm upwards\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nlift your arm upwards Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14515032667936259783.mp4"}
+{"uid":"4951712238937323220","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace an apple in a bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2817084913086091452.mp4"}
+{"uid":"9570921379786729180","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the white tray in the cardboard drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8361388450994660687.mp4"}
+{"uid":"4398192111654169036","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput packet in stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11008427069919067166.mp4"}
+{"uid":"3430248215710571242","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor Q: immediate next step? \u003cPRED\u003eA: Slightly move your arm up\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor. last 20 steps: 1- pick the bowl 2- drop the bowl in the tray 3- Grab the tray 4- Slightly move up 5- Lift up the sponge 6- Drop the sponge in the tray 7- Slightly move up 8- Lift up the orange bowl 9- Drop the orange bowl in the tray 10- Slightly move your arm up 11- pick the chip packet from the table 12- drop the chip packet in the tray 13- lift your arm upwards 14- pick the mini sliver glass from the table 15- drop the mini sliver glass in the tray 16- lift your arm upwards 17- pick the chilli from the table 18- place the chilli in the container Q: next 5 steps? \u003cPRED\u003eA: 1- Slightly move your arm up 2- Pick the brush 3- drop the brush in the container 4- move your arm up 5- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Slightly move your arm up\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nSlightly move your arm up Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor. last 20 steps: 1- pick the bowl 2- drop the bowl in the tray 3- Grab the tray 4- Slightly move up 5- Lift up the sponge 6- Drop the sponge in the tray 7- Slightly move up 8- Lift up the orange bowl 9- Drop the orange bowl in the tray 10- Slightly move your arm up 11- pick the chip packet from the table 12- drop the chip packet in the tray 13- lift your arm upwards 14- pick the mini sliver glass from the table 15- drop the mini sliver glass in the tray 16- lift your arm upwards 17- pick the chilli from the table 18- place the chilli in the container Q: immediate next step? \u003cPRED\u003eA: Slightly move your arm up\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Slightly move your arm up\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nSlightly move your arm up Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5845835507090194563.mp4"}
+{"uid":"18055282196206817346","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Grab the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor. last 20 steps: 1- pick the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Grab the tray 2- Lift up the sponge 3- Drop the sponge in the tray 4- Slightly move up 5- Lift up the orange bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nGrab the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nGrab the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor Q: immediate next step? \u003cPRED\u003eA: Grab the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Grab the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor. last 20 steps: 1- pick the bowl Q: immediate next step? \u003cPRED\u003eA: Grab the tray\n\u003c/PRED\u003e","video":"14083781175135267361.mp4"}
+{"uid":"12069271590776491271","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open the fridge\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: get 1 coke and 2 lacroix from the fridge to the counter table. last 20 steps: 1- open the fridge 2- place the can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- open the fridge 2- place the can on the table 3- open the fridge 4- place the can on the table 5- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: get 1 coke and 2 lacroix from the fridge to the counter table Q: immediate next step? \u003cPRED\u003eA: open the fridge\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nopen the fridge Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open the fridge\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: get 1 coke and 2 lacroix from the fridge to the counter table. last 20 steps: 1- open the fridge 2- place the can on the table Q: immediate next step? \u003cPRED\u003eA: open the fridge\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nopen the fridge Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10093319841338536777.mp4"}
+{"uid":"14316468299961073584","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the box in the cupboard Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13516080815879001403.mp4"}
+{"uid":"11093051902034442349","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick the plastic glass from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2533111156055795072.mp4"}
+{"uid":"14958037971159087655","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the yellow marker in a container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14481754436662844957.mp4"}
+{"uid":"11112467023684951698","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7864391944115913399.mp4"}
+{"uid":"995795076489031454","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor. last 20 steps: 1- pick the bowl 2- drop the bowl in the tray 3- Grab the tray 4- Slightly move up 5- Lift up the sponge 6- Drop the sponge in the tray 7- Slightly move up 8- Lift up the orange bowl 9- Drop the orange bowl in the tray 10- Slightly move your arm up 11- pick the chip packet from the table 12- drop the chip packet in the tray 13- lift your arm upwards 14- pick the mini sliver glass from the table 15- drop the mini sliver glass in the tray 16- lift your arm upwards 17- pick the chilli from the table 18- place the chilli in the container 19- move your arm upwards Q: next 5 steps? \u003cPRED\u003eA: 1- pull the brush 2- drop the brush in the container 3- move your arm up 4- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor Q: immediate next step? \u003cPRED\u003eA: pull the brush\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npull the brush Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pull the brush\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pull the brush\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npull the brush Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor. last 20 steps: 1- pick the bowl 2- drop the bowl in the tray 3- Grab the tray 4- Slightly move up 5- Lift up the sponge 6- Drop the sponge in the tray 7- Slightly move up 8- Lift up the orange bowl 9- Drop the orange bowl in the tray 10- Slightly move your arm up 11- pick the chip packet from the table 12- drop the chip packet in the tray 13- lift your arm upwards 14- pick the mini sliver glass from the table 15- drop the mini sliver glass in the tray 16- lift your arm upwards 17- pick the chilli from the table 18- place the chilli in the container 19- move your arm upwards Q: immediate next step? \u003cPRED\u003eA: pull the brush\n\u003c/PRED\u003e","video":"7187424830287003587.mp4"}
+{"uid":"15317925363820042276","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: get 1 coke and 2 lacroix from the fridge to the counter table. last 20 steps: 1- open the fridge 2- place the can on the table 3- open the fridge 4- place the can on the table 5- open the fridge Q: next 5 steps? \u003cPRED\u003eA: 1- place the can on the table 2- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: get 1 coke and 2 lacroix from the fridge to the counter table. last 20 steps: 1- open the fridge 2- place the can on the table 3- open the fridge 4- place the can on the table 5- open the fridge Q: immediate next step? \u003cPRED\u003eA: place the can on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: get 1 coke and 2 lacroix from the fridge to the counter table Q: immediate next step? \u003cPRED\u003eA: place the can on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the can on the table\n\u003c/PRED\u003e","video":"12254578957807024102.mp4"}
+{"uid":"8193926361204635494","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Lift up the sponge\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nLift up the sponge Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17163052554473703853.mp4"}
+{"uid":"14774123257947056562","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\npick the cloth Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the cloth\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the cloth Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the cloth\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor. last 20 steps: 1- pick the bowl 2- drop the bowl in the tray 3- Grab the tray 4- Slightly move up Q: immediate next step? \u003cPRED\u003eA: pick the cloth\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor. last 20 steps: 1- pick the bowl 2- drop the bowl in the tray 3- Grab the tray 4- Slightly move up Q: next 5 steps? \u003cPRED\u003eA: 1- pick the cloth 2- Slightly move up 3- Lift up the orange bowl 4- Drop the orange bowl in the tray 5- Slightly move your arm up\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor Q: immediate next step? \u003cPRED\u003eA: pick the cloth\n\u003c/PRED\u003e","video":"4210199168409036834.mp4"}
+{"uid":"4092515671269196874","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput pistachio in glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13613818877568050318.mp4"}
+{"uid":"7162801889662184331","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor. last 20 steps: 1- pick the bowl 2- drop the bowl in the tray 3- Grab the tray 4- Slightly move up 5- Lift up the sponge 6- Drop the sponge in the tray 7- Slightly move up 8- Lift up the orange bowl 9- Drop the orange bowl in the tray 10- Slightly move your arm up 11- pick the chip packet from the table 12- drop the chip packet in the tray 13- lift your arm upwards 14- pick the mini sliver glass from the table 15- drop the mini sliver glass in the tray 16- lift your arm upwards 17- pick the chilli from the table 18- place the chilli in the container 19- move your arm upwards 20- Move close to the brush Q: immediate next step? \u003cPRED\u003eA: pick the brush\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor Q: immediate next step? \u003cPRED\u003eA: pick the brush\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the brush\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor. last 20 steps: 1- pick the bowl 2- drop the bowl in the tray 3- Grab the tray 4- Slightly move up 5- Lift up the sponge 6- Drop the sponge in the tray 7- Slightly move up 8- Lift up the orange bowl 9- Drop the orange bowl in the tray 10- Slightly move your arm up 11- pick the chip packet from the table 12- drop the chip packet in the tray 13- lift your arm upwards 14- pick the mini sliver glass from the table 15- drop the mini sliver glass in the tray 16- lift your arm upwards 17- pick the chilli from the table 18- place the chilli in the container 19- move your arm upwards 20- Move close to the brush Q: next 5 steps? \u003cPRED\u003eA: 1- pick the brush 2- move your arm up 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the brush\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the brush Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12299390655573611397.mp4"}
+{"uid":"15637501599857641271","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the oatmeal packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16170425139911339035.mp4"}
+{"uid":"5981052527471819113","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor Q: immediate next step? \u003cPRED\u003eA: Drop the orange bowl in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor. last 20 steps: 1- pick the bowl 2- drop the bowl in the tray 3- Grab the tray 4- Slightly move up 5- Lift up the sponge 6- Drop the sponge in the tray 7- Slightly move up Q: next 5 steps? \u003cPRED\u003eA: 1- Drop the orange bowl in the tray 2- pick the chip packet from the table 3- drop the chip packet in the tray 4- lift your arm upwards 5- pick the mini sliver glass from the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop the orange bowl in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrop the orange bowl in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor. last 20 steps: 1- pick the bowl 2- drop the bowl in the tray 3- Grab the tray 4- Slightly move up 5- Lift up the sponge 6- Drop the sponge in the tray 7- Slightly move up Q: immediate next step? \u003cPRED\u003eA: Drop the orange bowl in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop the orange bowl in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop the orange bowl in the tray\n\u003c/PRED\u003e","video":"2538371492752853469.mp4"}
+{"uid":"4581572564182429480","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor. last 20 steps: 1- pick the bowl 2- drop the bowl in the tray 3- Grab the tray 4- Slightly move up 5- Lift up the sponge 6- Drop the sponge in the tray 7- Slightly move up 8- Lift up the orange bowl 9- Drop the orange bowl in the tray 10- Slightly move your arm up 11- pick the chip packet from the table 12- drop the chip packet in the tray 13- lift your arm upwards 14- pick the mini sliver glass from the table Q: immediate next step? \u003cPRED\u003eA: Release the steel glass in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor Q: immediate next step? \u003cPRED\u003eA: Release the steel glass in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Release the steel glass in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nRelease the steel glass in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor. last 20 steps: 1- pick the bowl 2- drop the bowl in the tray 3- Grab the tray 4- Slightly move up 5- Lift up the sponge 6- Drop the sponge in the tray 7- Slightly move up 8- Lift up the orange bowl 9- Drop the orange bowl in the tray 10- Slightly move your arm up 11- pick the chip packet from the table 12- drop the chip packet in the tray 13- lift your arm upwards 14- pick the mini sliver glass from the table Q: next 5 steps? \u003cPRED\u003eA: 1- Release the steel glass in the tray 2- pick the chilli from the table 3- place the chilli in the container 4- move your arm upwards 5- Move close to the brush\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nRelease the steel glass in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Release the steel glass in the tray\n\u003c/PRED\u003e","video":"6926166868642752970.mp4"}
+{"uid":"18125109546543048969","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor. last 20 steps: 1- pick the bowl 2- drop the bowl in the tray 3- Grab the tray 4- Slightly move up 5- Lift up the sponge 6- Drop the sponge in the tray 7- Slightly move up 8- Lift up the orange bowl 9- Drop the orange bowl in the tray Q: immediate next step? \u003cPRED\u003eA: lift your arm\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: lift your arm\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nlift your arm Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor. last 20 steps: 1- pick the bowl 2- drop the bowl in the tray 3- Grab the tray 4- Slightly move up 5- Lift up the sponge 6- Drop the sponge in the tray 7- Slightly move up 8- Lift up the orange bowl 9- Drop the orange bowl in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- lift your arm 2- drop the chip packet in the tray 3- lift your arm upwards 4- pick the mini sliver glass from the table 5- drop the mini sliver glass in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: lift your arm\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nlift your arm Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor Q: immediate next step? \u003cPRED\u003eA: lift your arm\n\u003c/PRED\u003e","video":"13940503356268637893.mp4"}
+{"uid":"10327861209800613272","text":"\u003ctask:success:discrete:True\u003e\npick the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick the bowl\n\u003c/PRED\u003e","video":"13887899803069885571.mp4"}
+{"uid":"6348672114697118011","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the sticky note in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14361143586161715718.mp4"}
+{"uid":"12516772958498576339","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor. last 20 steps: 1- pick the bowl 2- drop the bowl in the tray 3- Grab the tray 4- Slightly move up 5- Lift up the sponge 6- Drop the sponge in the tray 7- Slightly move up 8- Lift up the orange bowl 9- Drop the orange bowl in the tray 10- Slightly move your arm up 11- pick the chip packet from the table 12- drop the chip packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- move your arm upwards 2- pick the mini sliver glass from the table 3- drop the mini sliver glass in the tray 4- lift your arm upwards 5- pick the chilli from the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move your arm upwards\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove your arm upwards Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor. last 20 steps: 1- pick the bowl 2- drop the bowl in the tray 3- Grab the tray 4- Slightly move up 5- Lift up the sponge 6- Drop the sponge in the tray 7- Slightly move up 8- Lift up the orange bowl 9- Drop the orange bowl in the tray 10- Slightly move your arm up 11- pick the chip packet from the table 12- drop the chip packet in the tray Q: immediate next step? \u003cPRED\u003eA: move your arm upwards\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove your arm upwards Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move your arm upwards\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor Q: immediate next step? \u003cPRED\u003eA: move your arm upwards\n\u003c/PRED\u003e","video":"924162154098901712.mp4"}
+{"uid":"11399120478189563342","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove to the yellow packet Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17877764406279905254.mp4"}
+{"uid":"4029069194359006796","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop the steel glass in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor Q: immediate next step? \u003cPRED\u003eA: Drop the steel glass in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor. last 20 steps: 1- pick the bowl 2- drop the bowl in the tray 3- Grab the tray 4- Slightly move up 5- Lift up the sponge 6- Drop the sponge in the tray 7- Slightly move up 8- Lift up the orange bowl 9- Drop the orange bowl in the tray 10- Slightly move your arm up 11- pick the chip packet from the table 12- drop the chip packet in the tray 13- lift your arm upwards Q: immediate next step? \u003cPRED\u003eA: Drop the steel glass in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop the steel glass in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrop the steel glass in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop the steel glass in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor. last 20 steps: 1- pick the bowl 2- drop the bowl in the tray 3- Grab the tray 4- Slightly move up 5- Lift up the sponge 6- Drop the sponge in the tray 7- Slightly move up 8- Lift up the orange bowl 9- Drop the orange bowl in the tray 10- Slightly move your arm up 11- pick the chip packet from the table 12- drop the chip packet in the tray 13- lift your arm upwards Q: next 5 steps? \u003cPRED\u003eA: 1- Drop the steel glass in the tray 2- lift your arm upwards 3- pick the chilli from the table 4- place the chilli in the container 5- move your arm upwards\n\u003c/PRED\u003e","video":"7888273592118235007.mp4"}
+{"uid":"14086822325013283745","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the apple in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2716788562285541691.mp4"}
+{"uid":"7133207571468769930","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor. last 20 steps: 1- pick the bowl Q: immediate next step? \u003cPRED\u003eA: Release the paper bowl in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nRelease the paper bowl in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor Q: immediate next step? \u003cPRED\u003eA: Release the paper bowl in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nRelease the paper bowl in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Release the paper bowl in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Release the paper bowl in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor. last 20 steps: 1- pick the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Release the paper bowl in the tray 2- Slightly move up 3- Lift up the sponge 4- Drop the sponge in the tray 5- Slightly move up\n\u003c/PRED\u003e","video":"16060830579219295323.mp4"}
+{"uid":"13568933150613503137","text":"\u003ctask:success:discrete:True\u003e\nDrop the pipcorn packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Drop the pipcorn packet in the tray\n\u003c/PRED\u003e","video":"13963924461275170734.mp4"}
+{"uid":"7584880522142329130","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor Q: immediate next step? \u003cPRED\u003eA: drop the popcorn packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor. last 20 steps: 1- pick the bowl 2- drop the bowl in the tray 3- Grab the tray 4- Slightly move up 5- Lift up the sponge 6- Drop the sponge in the tray 7- Slightly move up 8- Lift up the orange bowl 9- Drop the orange bowl in the tray 10- Slightly move your arm up 11- pick the chip packet from the table Q: immediate next step? \u003cPRED\u003eA: drop the popcorn packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the popcorn packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor. last 20 steps: 1- pick the bowl 2- drop the bowl in the tray 3- Grab the tray 4- Slightly move up 5- Lift up the sponge 6- Drop the sponge in the tray 7- Slightly move up 8- Lift up the orange bowl 9- Drop the orange bowl in the tray 10- Slightly move your arm up 11- pick the chip packet from the table Q: next 5 steps? \u003cPRED\u003eA: 1- drop the popcorn packet in the tray 2- pick the mini sliver glass from the table 3- drop the mini sliver glass in the tray 4- lift your arm upwards 5- pick the chilli from the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the popcorn packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the popcorn packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the popcorn packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10995174516826646719.mp4"}
+{"uid":"2721002939203926488","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11576719394328663060.mp4"}
+{"uid":"14454054586783104853","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop packet into bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3433713037028831227.mp4"}
+{"uid":"12372078001501449077","text":"\u003ctask:success:discrete:True\u003e\ndrop the cloth in the container Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the cloth in the container\n\u003c/PRED\u003e","video":"7123702861888908206.mp4"}
+{"uid":"12106566182571000721","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the bean in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2968212906891655257.mp4"}
+{"uid":"16648561996706743110","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the fish bag in the white bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12646286999751771355.mp4"}
+{"uid":"6398281996538673183","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor. last 20 steps: 1- pick the bowl 2- drop the bowl in the tray 3- Grab the tray 4- Slightly move up 5- Lift up the sponge 6- Drop the sponge in the tray 7- Slightly move up 8- Lift up the orange bowl 9- Drop the orange bowl in the tray 10- Slightly move your arm up 11- pick the chip packet from the table 12- drop the chip packet in the tray 13- lift your arm upwards 14- pick the mini sliver glass from the table 15- drop the mini sliver glass in the tray 16- lift your arm upwards 17- pick the chilli from the table 18- place the chilli in the container 19- move your arm upwards 20- Move close to the brush Q: next 5 steps? \u003cPRED\u003eA: 1- pick the brush from the table 2- move your arm up 3- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the brush from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the brush from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor Q: immediate next step? \u003cPRED\u003eA: pick the brush from the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the brush from the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor. last 20 steps: 1- pick the bowl 2- drop the bowl in the tray 3- Grab the tray 4- Slightly move up 5- Lift up the sponge 6- Drop the sponge in the tray 7- Slightly move up 8- Lift up the orange bowl 9- Drop the orange bowl in the tray 10- Slightly move your arm up 11- pick the chip packet from the table 12- drop the chip packet in the tray 13- lift your arm upwards 14- pick the mini sliver glass from the table 15- drop the mini sliver glass in the tray 16- lift your arm upwards 17- pick the chilli from the table 18- place the chilli in the container 19- move your arm upwards 20- Move close to the brush Q: immediate next step? \u003cPRED\u003eA: pick the brush from the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the brush from the table\n\u003c/PRED\u003e","video":"8626757920223431140.mp4"}
+{"uid":"12930632887105438460","text":"\u003ctask:success:discrete:True\u003e\nMove your arm towards the chips packet Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Move your arm towards the chips packet\n\u003c/PRED\u003e","video":"2056982304858519492.mp4"}
+{"uid":"14841530155024608173","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor. last 20 steps: 1- Grab the tray 2- Slightly move up 3- Lift up the sponge 4- Drop the sponge in the tray 5- Slightly move up 6- Lift up the orange bowl 7- Drop the orange bowl in the tray 8- Slightly move your arm up 9- pick the chip packet from the table 10- drop the chip packet in the tray 11- lift your arm upwards 12- pick the mini sliver glass from the table 13- drop the mini sliver glass in the tray 14- lift your arm upwards 15- pick the chilli from the table 16- place the chilli in the container 17- move your arm upwards 18- Move close to the brush 19- Pick the brush 20- Drop the brush in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor. last 20 steps: 1- Grab the tray 2- Slightly move up 3- Lift up the sponge 4- Drop the sponge in the tray 5- Slightly move up 6- Lift up the orange bowl 7- Drop the orange bowl in the tray 8- Slightly move your arm up 9- pick the chip packet from the table 10- drop the chip packet in the tray 11- lift your arm upwards 12- pick the mini sliver glass from the table 13- drop the mini sliver glass in the tray 14- lift your arm upwards 15- pick the chilli from the table 16- place the chilli in the container 17- move your arm upwards 18- Move close to the brush 19- Pick the brush 20- Drop the brush in the tray Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Drop the brush in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nDrop the brush in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5286705534516758286.mp4"}
+{"uid":"9318302470725445506","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove away from the white carton box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17036505570937368115.mp4"}
+{"uid":"12054184417591952197","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the can on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1461015745028206821.mp4"}
+{"uid":"898633318520715415","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move close to the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Move close to the table 2- drop the bowl in the tray 3- Grab the tray 4- Slightly move up 5- Lift up the sponge\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Move close to the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove close to the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move close to the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove close to the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor Q: immediate next step? \u003cPRED\u003eA: Move close to the table\n\u003c/PRED\u003e","video":"12586368789994904767.mp4"}
+{"uid":"15418894523224000070","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\npick the mini sliver glass from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor. last 20 steps: 1- pick the bowl 2- drop the bowl in the tray 3- Grab the tray 4- Slightly move up 5- Lift up the sponge 6- Drop the sponge in the tray 7- Slightly move up 8- Lift up the orange bowl 9- Drop the orange bowl in the tray 10- Slightly move your arm up 11- pick the chip packet from the table 12- drop the chip packet in the tray Q: immediate next step? \u003cPRED\u003eA: pick the mini sliver glass from the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor Q: immediate next step? \u003cPRED\u003eA: pick the mini sliver glass from the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the mini sliver glass from the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the mini sliver glass from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the mini sliver glass from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor. last 20 steps: 1- pick the bowl 2- drop the bowl in the tray 3- Grab the tray 4- Slightly move up 5- Lift up the sponge 6- Drop the sponge in the tray 7- Slightly move up 8- Lift up the orange bowl 9- Drop the orange bowl in the tray 10- Slightly move your arm up 11- pick the chip packet from the table 12- drop the chip packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- pick the mini sliver glass from the table 2- lift your arm upwards 3- pick the chilli from the table 4- place the chilli in the container 5- move your arm upwards\n\u003c/PRED\u003e","video":"9384934657577795254.mp4"}
+{"uid":"10924093512677924675","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nlift your arm upwards Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nlift your arm upwards Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: lift your arm upwards\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor Q: immediate next step? \u003cPRED\u003eA: lift your arm upwards\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: lift your arm upwards\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor. last 20 steps: 1- pick the bowl 2- drop the bowl in the tray 3- Grab the tray 4- Slightly move up 5- Lift up the sponge 6- Drop the sponge in the tray 7- Slightly move up 8- Lift up the orange bowl 9- Drop the orange bowl in the tray 10- Slightly move your arm up 11- pick the chip packet from the table 12- drop the chip packet in the tray 13- lift your arm upwards 14- pick the mini sliver glass from the table 15- drop the mini sliver glass in the tray 16- lift your arm upwards 17- pick the chilli from the table 18- place the chilli in the container Q: next 5 steps? \u003cPRED\u003eA: 1- lift your arm upwards 2- Pick the brush 3- drop the brush in the container 4- move your arm up 5- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor. last 20 steps: 1- pick the bowl 2- drop the bowl in the tray 3- Grab the tray 4- Slightly move up 5- Lift up the sponge 6- Drop the sponge in the tray 7- Slightly move up 8- Lift up the orange bowl 9- Drop the orange bowl in the tray 10- Slightly move your arm up 11- pick the chip packet from the table 12- drop the chip packet in the tray 13- lift your arm upwards 14- pick the mini sliver glass from the table 15- drop the mini sliver glass in the tray 16- lift your arm upwards 17- pick the chilli from the table 18- place the chilli in the container Q: immediate next step? \u003cPRED\u003eA: lift your arm upwards\n\u003c/PRED\u003e","video":"14208475418232064117.mp4"}
+{"uid":"5751621997862403955","text":"\u003ctask:success:discrete:True\u003e\nPick up the brush Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Pick up the brush\n\u003c/PRED\u003e","video":"9866160698953277928.mp4"}
+{"uid":"4239372291637875941","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move your arm up\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor. last 20 steps: 1- Grab the tray 2- Slightly move up 3- Lift up the sponge 4- Drop the sponge in the tray 5- Slightly move up 6- Lift up the orange bowl 7- Drop the orange bowl in the tray 8- Slightly move your arm up 9- pick the chip packet from the table 10- drop the chip packet in the tray 11- lift your arm upwards 12- pick the mini sliver glass from the table 13- drop the mini sliver glass in the tray 14- lift your arm upwards 15- pick the chilli from the table 16- place the chilli in the container 17- move your arm upwards 18- Move close to the brush 19- Pick the brush 20- drop the brush in the container Q: immediate next step? \u003cPRED\u003eA: move your arm up\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove your arm up Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor Q: immediate next step? \u003cPRED\u003eA: move your arm up\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove your arm up Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move your arm up\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor. last 20 steps: 1- Grab the tray 2- Slightly move up 3- Lift up the sponge 4- Drop the sponge in the tray 5- Slightly move up 6- Lift up the orange bowl 7- Drop the orange bowl in the tray 8- Slightly move your arm up 9- pick the chip packet from the table 10- drop the chip packet in the tray 11- lift your arm upwards 12- pick the mini sliver glass from the table 13- drop the mini sliver glass in the tray 14- lift your arm upwards 15- pick the chilli from the table 16- place the chilli in the container 17- move your arm upwards 18- Move close to the brush 19- Pick the brush 20- drop the brush in the container Q: next 5 steps? \u003cPRED\u003eA: 1- move your arm up 2- done\n\u003c/PRED\u003e","video":"9930789046141324893.mp4"}
+{"uid":"8478267399436879219","text":"\u003ctask:success:discrete:True\u003e\npick the chilli Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick the chilli\n\u003c/PRED\u003e","video":"14181643938613565524.mp4"}
+{"uid":"17770348715288042310","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nmove your arm upwards Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move your arm upwards\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor Q: immediate next step? \u003cPRED\u003eA: move your arm upwards\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor. last 20 steps: 1- pick the bowl 2- drop the bowl in the tray 3- Grab the tray 4- Slightly move up 5- Lift up the sponge 6- Drop the sponge in the tray 7- Slightly move up 8- Lift up the orange bowl 9- Drop the orange bowl in the tray 10- Slightly move your arm up 11- pick the chip packet from the table 12- drop the chip packet in the tray 13- lift your arm upwards 14- pick the mini sliver glass from the table 15- drop the mini sliver glass in the tray 16- lift your arm upwards 17- pick the chilli from the table 18- place the chilli in the container Q: immediate next step? \u003cPRED\u003eA: move your arm upwards\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move your arm upwards\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor. last 20 steps: 1- pick the bowl 2- drop the bowl in the tray 3- Grab the tray 4- Slightly move up 5- Lift up the sponge 6- Drop the sponge in the tray 7- Slightly move up 8- Lift up the orange bowl 9- Drop the orange bowl in the tray 10- Slightly move your arm up 11- pick the chip packet from the table 12- drop the chip packet in the tray 13- lift your arm upwards 14- pick the mini sliver glass from the table 15- drop the mini sliver glass in the tray 16- lift your arm upwards 17- pick the chilli from the table 18- place the chilli in the container Q: next 5 steps? \u003cPRED\u003eA: 1- move your arm upwards 2- Move close to the brush 3- Pick the brush 4- drop the brush in the container 5- move your arm up\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove your arm upwards Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4557788354411019574.mp4"}
+{"uid":"16700132222039371447","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove the chair forward Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7429494417534116870.mp4"}
+{"uid":"10444466379502532171","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the yellow packet on the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17369149755872393023.mp4"}
+{"uid":"13767742145211525049","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pen in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5608852358131593929.mp4"}
+{"uid":"17007559412304899714","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor. last 20 steps: 1- pick the bowl 2- drop the bowl in the tray 3- Grab the tray 4- Slightly move up 5- Lift up the sponge 6- Drop the sponge in the tray 7- Slightly move up 8- Lift up the orange bowl 9- Drop the orange bowl in the tray 10- Slightly move your arm up 11- pick the chip packet from the table 12- drop the chip packet in the tray 13- lift your arm upwards 14- pick the mini sliver glass from the table 15- drop the mini sliver glass in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Move your arm towards the chilli 2- place the chilli in the container 3- move your arm upwards 4- Move close to the brush 5- Pick the brush\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor Q: immediate next step? \u003cPRED\u003eA: Move your arm towards the chilli\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move your arm towards the chilli\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move your arm towards the chilli\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove your arm towards the chilli Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor. last 20 steps: 1- pick the bowl 2- drop the bowl in the tray 3- Grab the tray 4- Slightly move up 5- Lift up the sponge 6- Drop the sponge in the tray 7- Slightly move up 8- Lift up the orange bowl 9- Drop the orange bowl in the tray 10- Slightly move your arm up 11- pick the chip packet from the table 12- drop the chip packet in the tray 13- lift your arm upwards 14- pick the mini sliver glass from the table 15- drop the mini sliver glass in the tray Q: immediate next step? \u003cPRED\u003eA: Move your arm towards the chilli\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove your arm towards the chilli Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13845956885158899140.mp4"}
+{"uid":"11164476242275207959","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor. last 20 steps: 1- pick the bowl 2- drop the bowl in the tray 3- Grab the tray 4- Slightly move up 5- Lift up the sponge 6- Drop the sponge in the tray 7- Slightly move up 8- Lift up the orange bowl 9- Drop the orange bowl in the tray 10- Slightly move your arm up 11- pick the chip packet from the table 12- drop the chip packet in the tray 13- lift your arm upwards 14- pick the mini sliver glass from the table 15- drop the mini sliver glass in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- lift your arm upwards 2- place the chilli in the container 3- move your arm upwards 4- Move close to the brush 5- Pick the brush\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: lift your arm upwards\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: lift your arm upwards\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nlift your arm upwards Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor Q: immediate next step? \u003cPRED\u003eA: lift your arm upwards\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor. last 20 steps: 1- pick the bowl 2- drop the bowl in the tray 3- Grab the tray 4- Slightly move up 5- Lift up the sponge 6- Drop the sponge in the tray 7- Slightly move up 8- Lift up the orange bowl 9- Drop the orange bowl in the tray 10- Slightly move your arm up 11- pick the chip packet from the table 12- drop the chip packet in the tray 13- lift your arm upwards 14- pick the mini sliver glass from the table 15- drop the mini sliver glass in the tray Q: immediate next step? \u003cPRED\u003eA: lift your arm upwards\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nlift your arm upwards Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4085719677191491516.mp4"}
+{"uid":"4231817745111201629","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the tissue paper packet in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"113254282759367729.mp4"}
+{"uid":"12349199000000110674","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor. last 20 steps: 1- pick the bowl 2- drop the bowl in the tray 3- Grab the tray 4- Slightly move up 5- Lift up the sponge 6- Drop the sponge in the tray 7- Slightly move up Q: immediate next step? \u003cPRED\u003eA: Pick the red bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick the red bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick the red bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor Q: immediate next step? \u003cPRED\u003eA: Pick the red bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick the red bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor. last 20 steps: 1- pick the bowl 2- drop the bowl in the tray 3- Grab the tray 4- Slightly move up 5- Lift up the sponge 6- Drop the sponge in the tray 7- Slightly move up Q: next 5 steps? \u003cPRED\u003eA: 1- Pick the red bowl 2- Slightly move your arm up 3- pick the chip packet from the table 4- drop the chip packet in the tray 5- lift your arm upwards\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick the red bowl\n\u003c/PRED\u003e","video":"13288304250399128677.mp4"}
+{"uid":"4969452899276638652","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the brush in the container\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop the brush in the container Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15196800750744018647.mp4"}
+{"uid":"6196183169728693891","text":"\u003ctask:success:discrete:False\u003e\ndrop the paper bowl in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor. last 20 steps: 1- pick the bowl Q: immediate next step? \u003cPRED\u003eA: drop the paper bowl in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor Q: immediate next step? \u003cPRED\u003eA: drop the paper bowl in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the paper bowl in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor. last 20 steps: 1- pick the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- drop the paper bowl in the tray 2- Slightly move up 3- Lift up the sponge 4- Drop the sponge in the tray 5- Slightly move up\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the paper bowl in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the paper bowl in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9193637447726744935.mp4"}
+{"uid":"10120394068176525668","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the wipes packets in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7094083955714200998.mp4"}
+{"uid":"16706118582802429014","text":"\u003ctask:success:discrete:False\u003e\nPick up the paper bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Pick up the paper bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the paper bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the paper bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the paper bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the paper bowl 2- Grab the tray 3- Slightly move up 4- Lift up the sponge 5- Drop the sponge in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor Q: immediate next step? \u003cPRED\u003eA: Pick up the paper bowl\n\u003c/PRED\u003e","video":"11519287996360973765.mp4"}
+{"uid":"4068270497264219396","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nkeep the can straight Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2114037178659887000.mp4"}
+{"uid":"13955400472979217081","text":"\u003ctask:success:discrete:True\u003e\nput the plastic in the dustbin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the plastic in the dustbin\n\u003c/PRED\u003e","video":"11049633139638663387.mp4"}
+{"uid":"439426627735855739","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor Q: immediate next step? \u003cPRED\u003eA: Move your arm towards the steel glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move your arm towards the steel glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove your arm towards the steel glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor. last 20 steps: 1- pick the bowl 2- drop the bowl in the tray 3- Grab the tray 4- Slightly move up 5- Lift up the sponge 6- Drop the sponge in the tray 7- Slightly move up 8- Lift up the orange bowl 9- Drop the orange bowl in the tray 10- Slightly move your arm up 11- pick the chip packet from the table 12- drop the chip packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Move your arm towards the steel glass 2- drop the mini sliver glass in the tray 3- lift your arm upwards 4- pick the chilli from the table 5- place the chilli in the container\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor. last 20 steps: 1- pick the bowl 2- drop the bowl in the tray 3- Grab the tray 4- Slightly move up 5- Lift up the sponge 6- Drop the sponge in the tray 7- Slightly move up 8- Lift up the orange bowl 9- Drop the orange bowl in the tray 10- Slightly move your arm up 11- pick the chip packet from the table 12- drop the chip packet in the tray Q: immediate next step? \u003cPRED\u003eA: Move your arm towards the steel glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove your arm towards the steel glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move your arm towards the steel glass\n\u003c/PRED\u003e","video":"1756311985576026667.mp4"}
+{"uid":"3787161422759102316","text":"\u003ctask:success:discrete:True\u003e\nLift up the orange bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Lift up the orange bowl\n\u003c/PRED\u003e","video":"16123102666308701792.mp4"}
+{"uid":"5928134766893331108","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the silver packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5828111512456511912.mp4"}
+{"uid":"1477654386565597164","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace chair near table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9163967591295040805.mp4"}
+{"uid":"6527641996031301147","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput a black pen in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"984829090730140718.mp4"}
+{"uid":"12838882894625036976","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the chip packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor Q: immediate next step? \u003cPRED\u003eA: drop the chip packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the chip packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor. last 20 steps: 1- pick the bowl 2- drop the bowl in the tray 3- Grab the tray 4- Slightly move up 5- Lift up the sponge 6- Drop the sponge in the tray 7- Slightly move up 8- Lift up the orange bowl 9- Drop the orange bowl in the tray 10- Slightly move your arm up Q: next 5 steps? \u003cPRED\u003eA: 1- drop the chip packet in the tray 2- pick the mini sliver glass from the table 3- drop the mini sliver glass in the tray 4- lift your arm upwards 5- pick the chilli from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the chip packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the chip packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor. last 20 steps: 1- pick the bowl 2- drop the bowl in the tray 3- Grab the tray 4- Slightly move up 5- Lift up the sponge 6- Drop the sponge in the tray 7- Slightly move up 8- Lift up the orange bowl 9- Drop the orange bowl in the tray 10- Slightly move your arm up Q: immediate next step? \u003cPRED\u003eA: drop the chip packet in the tray\n\u003c/PRED\u003e","video":"6489306466177064079.mp4"}
+{"uid":"17873368886209728836","text":"\u003ctask:success:discrete:True\u003e\nMove your arm close to the paper bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Move your arm close to the paper bowl\n\u003c/PRED\u003e","video":"6125054588246095716.mp4"}
+{"uid":"14042192143029090498","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: lift your arm\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nlift your arm Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nlift your arm Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor Q: immediate next step? \u003cPRED\u003eA: lift your arm\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor. last 20 steps: 1- pick the bowl 2- drop the bowl in the tray 3- Grab the tray 4- Slightly move up 5- Lift up the sponge 6- Drop the sponge in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- lift your arm 2- Drop the orange bowl in the tray 3- Slightly move your arm up 4- pick the chip packet from the table 5- drop the chip packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor. last 20 steps: 1- pick the bowl 2- drop the bowl in the tray 3- Grab the tray 4- Slightly move up 5- Lift up the sponge 6- Drop the sponge in the tray Q: immediate next step? \u003cPRED\u003eA: lift your arm\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: lift your arm\n\u003c/PRED\u003e","video":"3510447562222425937.mp4"}
+{"uid":"3988203397909011809","text":"\u003ctask:success:discrete:True\u003e\nplace the can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the can on the table\n\u003c/PRED\u003e","video":"3032554909971278102.mp4"}
+{"uid":"16912240598644617151","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Move your arm towards the sponge\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nMove your arm towards the sponge Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15319624832166762232.mp4"}
+{"uid":"11476428472585212033","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput candy in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6202428469922105012.mp4"}
+{"uid":"12670361775226597608","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor. last 20 steps: 1- pick the bowl 2- drop the bowl in the tray 3- Grab the tray 4- Slightly move up 5- Lift up the sponge 6- Drop the sponge in the tray 7- Slightly move up 8- Lift up the orange bowl 9- Drop the orange bowl in the tray 10- Slightly move your arm up Q: immediate next step? \u003cPRED\u003eA: Drop the pipcorn packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor Q: immediate next step? \u003cPRED\u003eA: Drop the pipcorn packet in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrop the pipcorn packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop the pipcorn packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop the pipcorn packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop the pipcorn packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor. last 20 steps: 1- pick the bowl 2- drop the bowl in the tray 3- Grab the tray 4- Slightly move up 5- Lift up the sponge 6- Drop the sponge in the tray 7- Slightly move up 8- Lift up the orange bowl 9- Drop the orange bowl in the tray 10- Slightly move your arm up Q: next 5 steps? \u003cPRED\u003eA: 1- Drop the pipcorn packet in the tray 2- lift your arm upwards 3- pick the mini sliver glass from the table 4- drop the mini sliver glass in the tray 5- lift your arm upwards\n\u003c/PRED\u003e","video":"17453825660329879708.mp4"}
+{"uid":"8361783955997853941","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop fruit into jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10332166864016320126.mp4"}
+{"uid":"12366274669789773842","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the sticky notes in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17373762081577716573.mp4"}
+{"uid":"11092676288653909063","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor. last 20 steps: 1- pick the bowl 2- drop the bowl in the tray 3- Grab the tray 4- Slightly move up 5- Lift up the sponge Q: immediate next step? \u003cPRED\u003eA: drop the sponge in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the sponge in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the sponge in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor. last 20 steps: 1- pick the bowl 2- drop the bowl in the tray 3- Grab the tray 4- Slightly move up 5- Lift up the sponge Q: next 5 steps? \u003cPRED\u003eA: 1- drop the sponge in the tray 2- Lift up the orange bowl 3- Drop the orange bowl in the tray 4- Slightly move your arm up 5- pick the chip packet from the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the sponge in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the sponge in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor Q: immediate next step? \u003cPRED\u003eA: drop the sponge in the tray\n\u003c/PRED\u003e","video":"795774823282346705.mp4"}
+{"uid":"10350861005842041301","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the blue candy on the upright Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6352996651323425772.mp4"}
+{"uid":"11093870610505948088","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nRelease the sponge in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor. last 20 steps: 1- pick the bowl 2- drop the bowl in the tray 3- Grab the tray 4- Slightly move up 5- Lift up the sponge Q: immediate next step? \u003cPRED\u003eA: Release the sponge in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor Q: immediate next step? \u003cPRED\u003eA: Release the sponge in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor. last 20 steps: 1- pick the bowl 2- drop the bowl in the tray 3- Grab the tray 4- Slightly move up 5- Lift up the sponge Q: next 5 steps? \u003cPRED\u003eA: 1- Release the sponge in the tray 2- Lift up the orange bowl 3- Drop the orange bowl in the tray 4- Slightly move your arm up 5- pick the chip packet from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nRelease the sponge in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Release the sponge in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Release the sponge in the tray\n\u003c/PRED\u003e","video":"14688477093793207147.mp4"}
+{"uid":"2728211703578164631","text":"\u003ctask:success:discrete:True\u003e\ndrop the bowl in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the bowl in the tray\n\u003c/PRED\u003e","video":"981730028034946836.mp4"}
+{"uid":"16779220613648593717","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput marker in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17677956948849452740.mp4"}
+{"uid":"4029194553987052123","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the plastic fork in the paper glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14507259083237920990.mp4"}
+{"uid":"4781836752796102547","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the pista into the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9104109482119887550.mp4"}
+{"uid":"5545525772664483317","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the plastic fork in the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15167818833863507390.mp4"}
+{"uid":"17342839036559231832","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove the white bowl down Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17846101905346716504.mp4"}
+{"uid":"6219291258690108462","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move your arm towards the brush\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move your arm towards the brush\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove your arm towards the brush Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor. last 20 steps: 1- pick the bowl 2- drop the bowl in the tray 3- Grab the tray 4- Slightly move up 5- Lift up the sponge 6- Drop the sponge in the tray 7- Slightly move up 8- Lift up the orange bowl 9- Drop the orange bowl in the tray 10- Slightly move your arm up 11- pick the chip packet from the table 12- drop the chip packet in the tray 13- lift your arm upwards 14- pick the mini sliver glass from the table 15- drop the mini sliver glass in the tray 16- lift your arm upwards 17- pick the chilli from the table 18- place the chilli in the container Q: next 5 steps? \u003cPRED\u003eA: 1- Move your arm towards the brush 2- drop the brush in the container 3- move your arm up 4- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor Q: immediate next step? \u003cPRED\u003eA: Move your arm towards the brush\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove your arm towards the brush Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor. last 20 steps: 1- pick the bowl 2- drop the bowl in the tray 3- Grab the tray 4- Slightly move up 5- Lift up the sponge 6- Drop the sponge in the tray 7- Slightly move up 8- Lift up the orange bowl 9- Drop the orange bowl in the tray 10- Slightly move your arm up 11- pick the chip packet from the table 12- drop the chip packet in the tray 13- lift your arm upwards 14- pick the mini sliver glass from the table 15- drop the mini sliver glass in the tray 16- lift your arm upwards 17- pick the chilli from the table 18- place the chilli in the container Q: immediate next step? \u003cPRED\u003eA: Move your arm towards the brush\n\u003c/PRED\u003e","video":"11073900821110374952.mp4"}
+{"uid":"4327687386095662646","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move your arm towards the chips packet\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor. last 20 steps: 1- pick the bowl 2- drop the bowl in the tray 3- Grab the tray 4- Slightly move up 5- Lift up the sponge 6- Drop the sponge in the tray 7- Slightly move up 8- Lift up the orange bowl 9- Drop the orange bowl in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Move your arm towards the chips packet 2- drop the chip packet in the tray 3- lift your arm upwards 4- pick the mini sliver glass from the table 5- drop the mini sliver glass in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor. last 20 steps: 1- pick the bowl 2- drop the bowl in the tray 3- Grab the tray 4- Slightly move up 5- Lift up the sponge 6- Drop the sponge in the tray 7- Slightly move up 8- Lift up the orange bowl 9- Drop the orange bowl in the tray Q: immediate next step? \u003cPRED\u003eA: Move your arm towards the chips packet\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove your arm towards the chips packet Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove your arm towards the chips packet Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor Q: immediate next step? \u003cPRED\u003eA: Move your arm towards the chips packet\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move your arm towards the chips packet\n\u003c/PRED\u003e","video":"4950122331425711070.mp4"}
+{"uid":"11024077653958414763","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor Q: immediate next step? \u003cPRED\u003eA: move your arm upwards\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move your arm upwards\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move your arm upwards\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove your arm upwards Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove your arm upwards Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor. last 20 steps: 1- pick the bowl 2- drop the bowl in the tray 3- Grab the tray Q: immediate next step? \u003cPRED\u003eA: move your arm upwards\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor. last 20 steps: 1- pick the bowl 2- drop the bowl in the tray 3- Grab the tray Q: next 5 steps? \u003cPRED\u003eA: 1- move your arm upwards 2- Drop the sponge in the tray 3- Slightly move up 4- Lift up the orange bowl 5- Drop the orange bowl in the tray\n\u003c/PRED\u003e","video":"6802945891935046362.mp4"}
+{"uid":"277791630563854683","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the box into the carton Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4576031216865253993.mp4"}
+{"uid":"6441805399032061466","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Drag the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nDrag the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4198991176739345548.mp4"}
+{"uid":"7274182915428622877","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the cup on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8676823422964229583.mp4"}
+{"uid":"9624458123376195376","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the nacho packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8262613804828117800.mp4"}
+{"uid":"8079254500336629160","text":"\u003ctask:success:discrete:True\u003e\nMove your arm towards the red bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Move your arm towards the red bowl\n\u003c/PRED\u003e","video":"436894645509700511.mp4"}
+{"uid":"6852780887172368514","text":"\u003ctask:success:discrete:True\u003e\nMove your arm towards the chilli Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Move your arm towards the chilli\n\u003c/PRED\u003e","video":"2867042944725007014.mp4"}
+{"uid":"18268909039617018145","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pull the brush\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npull the brush Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10263683183532628716.mp4"}
+{"uid":"13117253881906229515","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Drop the sponge in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nDrop the sponge in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8353773788292743019.mp4"}
+{"uid":"4746774133208662196","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the brush in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor. last 20 steps: 1- drop the bowl in the tray 2- Grab the tray 3- Slightly move up 4- Lift up the sponge 5- Drop the sponge in the tray 6- Slightly move up 7- Lift up the orange bowl 8- Drop the orange bowl in the tray 9- Slightly move your arm up 10- pick the chip packet from the table 11- drop the chip packet in the tray 12- lift your arm upwards 13- pick the mini sliver glass from the table 14- drop the mini sliver glass in the tray 15- lift your arm upwards 16- pick the chilli from the table 17- place the chilli in the container 18- move your arm upwards 19- Move close to the brush 20- Pick the brush Q: immediate next step? \u003cPRED\u003eA: drop the brush in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor. last 20 steps: 1- drop the bowl in the tray 2- Grab the tray 3- Slightly move up 4- Lift up the sponge 5- Drop the sponge in the tray 6- Slightly move up 7- Lift up the orange bowl 8- Drop the orange bowl in the tray 9- Slightly move your arm up 10- pick the chip packet from the table 11- drop the chip packet in the tray 12- lift your arm upwards 13- pick the mini sliver glass from the table 14- drop the mini sliver glass in the tray 15- lift your arm upwards 16- pick the chilli from the table 17- place the chilli in the container 18- move your arm upwards 19- Move close to the brush 20- Pick the brush Q: next 5 steps? \u003cPRED\u003eA: 1- drop the brush in the tray 2- move your arm up 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the brush in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the brush in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor Q: immediate next step? \u003cPRED\u003eA: drop the brush in the tray\n\u003c/PRED\u003e","video":"10866519008743581187.mp4"}
+{"uid":"10491799272311781015","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nopen the fridge Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4374784245030483961.mp4"}
+{"uid":"5223760613546050590","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPick the steel glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick the steel glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick the steel glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor Q: immediate next step? \u003cPRED\u003eA: Pick the steel glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor. last 20 steps: 1- pick the bowl 2- drop the bowl in the tray 3- Grab the tray 4- Slightly move up 5- Lift up the sponge 6- Drop the sponge in the tray 7- Slightly move up 8- Lift up the orange bowl 9- Drop the orange bowl in the tray 10- Slightly move your arm up 11- pick the chip packet from the table 12- drop the chip packet in the tray 13- lift your arm upwards Q: next 5 steps? \u003cPRED\u003eA: 1- Pick the steel glass 2- lift your arm upwards 3- pick the chilli from the table 4- place the chilli in the container 5- move your arm upwards\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick the steel glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the bag of chips, the paper bowl, the pink bowl, the sponge, the metal cup, the red pepper, and the brush into the bin on the floor. last 20 steps: 1- pick the bowl 2- drop the bowl in the tray 3- Grab the tray 4- Slightly move up 5- Lift up the sponge 6- Drop the sponge in the tray 7- Slightly move up 8- Lift up the orange bowl 9- Drop the orange bowl in the tray 10- Slightly move your arm up 11- pick the chip packet from the table 12- drop the chip packet in the tray 13- lift your arm upwards Q: immediate next step? \u003cPRED\u003eA: Pick the steel glass\n\u003c/PRED\u003e","video":"16540880515022571297.mp4"}
+{"uid":"13341385299629224734","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the packet in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9646562921816510063.mp4"}
+{"uid":"17677618880071474325","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the sticky note in the glass tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11768788712060594578.mp4"}
+{"uid":"1754147703546027560","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15924604969649229404.mp4"}
+{"uid":"3128009955387198339","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the packet of cinnamon sugar on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the chips from the tray Q: immediate next step? \u003cPRED\u003eA: Put the packet of cinnamon sugar on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the packet of cinnamon sugar on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the packet of cinnamon sugar on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the chips from the tray. last 20 steps: 1- Put the packet of cinnamon sugar on the table Q: immediate next step? \u003cPRED\u003eA: Put the packet of cinnamon sugar on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the chips from the tray. last 20 steps: 1- Put the packet of cinnamon sugar on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the packet of cinnamon sugar on the table 2- Put the packet of parmesan garlic & herb on the table 3- Put the packet of cinnamon sugar on the table 4- Put the packet of parmesan garlic & herb on the table 5- Put the packet of cinnamon sugar on the table\n\u003c/PRED\u003e","video":"6845451749346705506.mp4"}
+{"uid":"15728589534749977628","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put spoon on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut spoon on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16795510068289331181.mp4"}
+{"uid":"8352889419626062284","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. Q: immediate next step? \u003cPRED\u003eA: place an orange on table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. last 20 steps: 1- put a packet in the bowl 2- place a tissue on the table 3- place a spoon on the tissue Q: immediate next step? \u003cPRED\u003eA: place an orange on table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place an orange on table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace an orange on table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place an orange on table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace an orange on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. last 20 steps: 1- put a packet in the bowl 2- place a tissue on the table 3- place a spoon on the tissue Q: next 5 steps? \u003cPRED\u003eA: 1- place an orange on table 2- done\n\u003c/PRED\u003e","video":"3062964257876317733.mp4"}
+{"uid":"6430066321209875398","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the blue packet in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5538182733042167607.mp4"}
+{"uid":"17017095350705003658","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput chair under the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10920072819400285530.mp4"}
+{"uid":"9412440383224791331","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the packet of cinnamon sugar on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the chips from the tray Q: immediate next step? \u003cPRED\u003eA: Put the packet of cinnamon sugar on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the chips from the tray. last 20 steps: 1- Put the packet of cinnamon sugar on the table 2- Put the packet of cinnamon sugar on the table 3- Put the packet of parmesan garlic & herb on the table 4- Put the packet of cinnamon sugar on the table 5- Put the packet of parmesan garlic & herb on the table 6- Put the packet of cinnamon sugar on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the packet of cinnamon sugar on the table 2- Put the packet of cinnamon sugar on the table 3- Put the packet of cinnamon sugar on the table 4- Put the packet of cinnamon sugar on the table 5- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the packet of cinnamon sugar on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the chips from the tray. last 20 steps: 1- Put the packet of cinnamon sugar on the table 2- Put the packet of cinnamon sugar on the table 3- Put the packet of parmesan garlic & herb on the table 4- Put the packet of cinnamon sugar on the table 5- Put the packet of parmesan garlic & herb on the table 6- Put the packet of cinnamon sugar on the table Q: immediate next step? \u003cPRED\u003eA: Put the packet of cinnamon sugar on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the packet of cinnamon sugar on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2448803287676276812.mp4"}
+{"uid":"14456656822806992147","text":"\u003ctask:success:discrete:True\u003e\nput a packet in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put a packet in the bowl\n\u003c/PRED\u003e","video":"8815992587287657928.mp4"}
+{"uid":"16782602613795021118","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place a tissue on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace a tissue on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10611754617617706392.mp4"}
+{"uid":"12405159222550924592","text":"\u003ctask:success:discrete:True\u003e\nput tissues on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put tissues on the table\n\u003c/PRED\u003e","video":"16598744031957151156.mp4"}
+{"uid":"10580648644470863632","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput pistachio in right cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11419895648868796520.mp4"}
+{"uid":"1785493444127112360","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4674754403955180866.mp4"}
+{"uid":"17057709994699095027","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput packet in bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10878140703780265078.mp4"}
+{"uid":"3734348914760042142","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the packet into bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8890152539214833752.mp4"}
+{"uid":"5404613562084904289","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. Q: immediate next step? \u003cPRED\u003eA: put a packet in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput a packet in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put a packet in the bowl 2- place a tissue on the table 3- place a spoon on the tissue 4- put orange on the table 5- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put a packet in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put a packet in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put a packet in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput a packet in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18036270117567461937.mp4"}
+{"uid":"1327536098561233214","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the candy on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1797801999600305754.mp4"}
+{"uid":"11875537982972688139","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nGrasp the cap Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6313776260053072055.mp4"}
+{"uid":"7399286816275259911","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nGrab marker Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10537922999344056939.mp4"}
+{"uid":"5672882776549848559","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. Q: immediate next step? \u003cPRED\u003eA: Put tissue paper on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put tissue paper on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. last 20 steps: 1- put a packet in the bowl Q: immediate next step? \u003cPRED\u003eA: Put tissue paper on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. last 20 steps: 1- put a packet in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put tissue paper on the table 2- place a spoon on the tissue 3- put orange on the table 4- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut tissue paper on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put tissue paper on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut tissue paper on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2241353735052833514.mp4"}
+{"uid":"15347258416269268374","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the blue packet in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3866514132423115569.mp4"}
+{"uid":"16254498555406265011","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. last 20 steps: 1- put a packet in the bowl 2- place a tissue on the table Q: immediate next step? \u003cPRED\u003eA: Put spoon on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put spoon on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. Q: immediate next step? \u003cPRED\u003eA: Put spoon on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put spoon on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut spoon on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. last 20 steps: 1- put a packet in the bowl 2- place a tissue on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put spoon on the table 2- put orange on the table 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut spoon on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12341316040521667610.mp4"}
+{"uid":"18217349756501876193","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput strawberry in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18002711293642710200.mp4"}
+{"uid":"11754846905557677977","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. Q: immediate next step? \u003cPRED\u003eA: put tissues on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput tissues on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put tissues on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. last 20 steps: 1- put a packet in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put tissues on the table 2- place a spoon on the tissue 3- put orange on the table 4- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput tissues on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. last 20 steps: 1- put a packet in the bowl Q: immediate next step? \u003cPRED\u003eA: put tissues on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put tissues on the table\n\u003c/PRED\u003e","video":"16062235834856223496.mp4"}
+{"uid":"7942951776919892103","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the candy in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10001300002874375325.mp4"}
+{"uid":"11224403700014726496","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the chips from the tray Q: immediate next step? \u003cPRED\u003eA: Put the packet of cinnamon sugar on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the chips from the tray. last 20 steps: 1- Put the packet of cinnamon sugar on the table 2- Put the packet of cinnamon sugar on the table 3- Put the packet of parmesan garlic & herb on the table Q: immediate next step? \u003cPRED\u003eA: Put the packet of cinnamon sugar on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the packet of cinnamon sugar on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the packet of cinnamon sugar on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the packet of cinnamon sugar on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the packet of cinnamon sugar on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the chips from the tray. last 20 steps: 1- Put the packet of cinnamon sugar on the table 2- Put the packet of cinnamon sugar on the table 3- Put the packet of parmesan garlic & herb on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the packet of cinnamon sugar on the table 2- Put the packet of parmesan garlic & herb on the table 3- Put the packet of cinnamon sugar on the table 4- Put the packet of cinnamon sugar on the table 5- Put the packet of cinnamon sugar on the table\n\u003c/PRED\u003e","video":"3260609261160058104.mp4"}
+{"uid":"4924875623585728165","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the chips from the tray Q: immediate next step? \u003cPRED\u003eA: Put the packet of cinnamon sugar on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the chips from the tray. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Put the packet of cinnamon sugar on the table 2- Put the packet of cinnamon sugar on the table 3- Put the packet of parmesan garlic & herb on the table 4- Put the packet of cinnamon sugar on the table 5- Put the packet of parmesan garlic & herb on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the packet of cinnamon sugar on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the packet of cinnamon sugar on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the packet of cinnamon sugar on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the packet of cinnamon sugar on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the chips from the tray. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Put the packet of cinnamon sugar on the table\n\u003c/PRED\u003e","video":"5217995200032579765.mp4"}
+{"uid":"1933490714802549283","text":"\u003ctask:success:discrete:True\u003e\nplace a spoon on the tissue Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place a spoon on the tissue\n\u003c/PRED\u003e","video":"2193754632424013874.mp4"}
+{"uid":"10430890356406429521","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put spoon on the tissue\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput spoon on the tissue Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. last 20 steps: 1- put a packet in the bowl 2- place a tissue on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put spoon on the tissue 2- put orange on the table 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put spoon on the tissue\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. Q: immediate next step? \u003cPRED\u003eA: put spoon on the tissue\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. last 20 steps: 1- put a packet in the bowl 2- place a tissue on the table Q: immediate next step? \u003cPRED\u003eA: put spoon on the tissue\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput spoon on the tissue Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11454319875154515578.mp4"}
+{"uid":"8699695365722004380","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the chips from the tray Q: immediate next step? \u003cPRED\u003eA: Put the packet of cinnamon sugar on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the chips from the tray. last 20 steps: 1- Put the packet of cinnamon sugar on the table 2- Put the packet of cinnamon sugar on the table 3- Put the packet of parmesan garlic & herb on the table 4- Put the packet of cinnamon sugar on the table 5- Put the packet of parmesan garlic & herb on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the packet of cinnamon sugar on the table 2- Put the packet of cinnamon sugar on the table 3- Put the packet of cinnamon sugar on the table 4- Put the packet of cinnamon sugar on the table 5- Put the packet of cinnamon sugar on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the packet of cinnamon sugar on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the chips from the tray. last 20 steps: 1- Put the packet of cinnamon sugar on the table 2- Put the packet of cinnamon sugar on the table 3- Put the packet of parmesan garlic & herb on the table 4- Put the packet of cinnamon sugar on the table 5- Put the packet of parmesan garlic & herb on the table Q: immediate next step? \u003cPRED\u003eA: Put the packet of cinnamon sugar on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the packet of cinnamon sugar on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the packet of cinnamon sugar on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the packet of cinnamon sugar on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16120803833002905342.mp4"}
+{"uid":"3761478229920688170","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the royal gold packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16369067460227633699.mp4"}
+{"uid":"14676374529656455203","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the red packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3079104230176814916.mp4"}
+{"uid":"1570807789143621937","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the packet of parmesan garlic & herb on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the packet of parmesan garlic & herb on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the packet of parmesan garlic & herb on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the chips from the tray Q: immediate next step? \u003cPRED\u003eA: Put the packet of parmesan garlic & herb on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the chips from the tray. last 20 steps: 1- Put the packet of cinnamon sugar on the table 2- Put the packet of cinnamon sugar on the table 3- Put the packet of parmesan garlic & herb on the table 4- Put the packet of cinnamon sugar on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the packet of parmesan garlic & herb on the table 2- Put the packet of cinnamon sugar on the table 3- Put the packet of cinnamon sugar on the table 4- Put the packet of cinnamon sugar on the table 5- Put the packet of cinnamon sugar on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the packet of parmesan garlic & herb on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the chips from the tray. last 20 steps: 1- Put the packet of cinnamon sugar on the table 2- Put the packet of cinnamon sugar on the table 3- Put the packet of parmesan garlic & herb on the table 4- Put the packet of cinnamon sugar on the table Q: immediate next step? \u003cPRED\u003eA: Put the packet of parmesan garlic & herb on the table\n\u003c/PRED\u003e","video":"6133437847601317284.mp4"}
+{"uid":"15063515129716478827","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. Q: immediate next step? \u003cPRED\u003eA: put orange on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put orange on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. last 20 steps: 1- put a packet in the bowl 2- place a tissue on the table 3- place a spoon on the tissue Q: next 5 steps? \u003cPRED\u003eA: 1- put orange on the table 2- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput orange on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put orange on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. last 20 steps: 1- put a packet in the bowl 2- place a tissue on the table 3- place a spoon on the tissue Q: immediate next step? \u003cPRED\u003eA: put orange on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput orange on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3363816913111111905.mp4"}
+{"uid":"2658383275088260314","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the packet of cinnamon sugar on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the packet of cinnamon sugar on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the chips from the tray. last 20 steps: 1- Put the packet of cinnamon sugar on the table 2- Put the packet of cinnamon sugar on the table 3- Put the packet of parmesan garlic & herb on the table 4- Put the packet of cinnamon sugar on the table 5- Put the packet of parmesan garlic & herb on the table 6- Put the packet of cinnamon sugar on the table 7- Put the packet of cinnamon sugar on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the packet of cinnamon sugar on the table 2- Put the packet of cinnamon sugar on the table 3- Put the packet of cinnamon sugar on the table 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the packet of cinnamon sugar on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the chips from the tray. last 20 steps: 1- Put the packet of cinnamon sugar on the table 2- Put the packet of cinnamon sugar on the table 3- Put the packet of parmesan garlic & herb on the table 4- Put the packet of cinnamon sugar on the table 5- Put the packet of parmesan garlic & herb on the table 6- Put the packet of cinnamon sugar on the table 7- Put the packet of cinnamon sugar on the table Q: immediate next step? \u003cPRED\u003eA: Put the packet of cinnamon sugar on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the chips from the tray Q: immediate next step? \u003cPRED\u003eA: Put the packet of cinnamon sugar on the table\n\u003c/PRED\u003e","video":"162601335879369754.mp4"}
+{"uid":"5731270173259424266","text":"\u003ctask:success:discrete:True\u003e\nput spoon on the tissue Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put spoon on the tissue\n\u003c/PRED\u003e","video":"12761558892762043864.mp4"}
+{"uid":"3291630518342641534","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut orange on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put orange on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put orange on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut orange on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. last 20 steps: 1- put a packet in the bowl 2- place a tissue on the table 3- place a spoon on the tissue Q: immediate next step? \u003cPRED\u003eA: Put orange on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. last 20 steps: 1- put a packet in the bowl 2- place a tissue on the table 3- place a spoon on the tissue Q: next 5 steps? \u003cPRED\u003eA: 1- Put orange on the table 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. Q: immediate next step? \u003cPRED\u003eA: Put orange on the table\n\u003c/PRED\u003e","video":"11096427360996249011.mp4"}
+{"uid":"17071526406362648131","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Put the brown packet in a glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the brown packet in a glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the brown packet in a glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Put the brown packet in a glass 2- place a tissue on the table 3- place a spoon on the tissue 4- put orange on the table 5- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. Q: immediate next step? \u003cPRED\u003eA: Put the brown packet in a glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the brown packet in a glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the brown packet in a glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16987900690647057867.mp4"}
+{"uid":"6110420683529386745","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the packet of cinnamon sugar on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the packet of cinnamon sugar on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the chips from the tray Q: immediate next step? \u003cPRED\u003eA: Put the packet of cinnamon sugar on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the chips from the tray. last 20 steps: 1- Put the packet of cinnamon sugar on the table 2- Put the packet of cinnamon sugar on the table 3- Put the packet of parmesan garlic & herb on the table 4- Put the packet of cinnamon sugar on the table 5- Put the packet of parmesan garlic & herb on the table 6- Put the packet of cinnamon sugar on the table 7- Put the packet of cinnamon sugar on the table 8- Put the packet of cinnamon sugar on the table Q: immediate next step? \u003cPRED\u003eA: Put the packet of cinnamon sugar on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the chips from the tray. last 20 steps: 1- Put the packet of cinnamon sugar on the table 2- Put the packet of cinnamon sugar on the table 3- Put the packet of parmesan garlic & herb on the table 4- Put the packet of cinnamon sugar on the table 5- Put the packet of parmesan garlic & herb on the table 6- Put the packet of cinnamon sugar on the table 7- Put the packet of cinnamon sugar on the table 8- Put the packet of cinnamon sugar on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the packet of cinnamon sugar on the table 2- Put the packet of cinnamon sugar on the table 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the packet of cinnamon sugar on the table\n\u003c/PRED\u003e","video":"6047185523886935093.mp4"}
+{"uid":"15744169402082978603","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput yellow pebble in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15512198341295933213.mp4"}
+{"uid":"2622742950524396997","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. last 20 steps: 1- put a packet in the bowl 2- place a tissue on the table 3- place a spoon on the tissue 4- put orange on the table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. last 20 steps: 1- put a packet in the bowl 2- place a tissue on the table 3- place a spoon on the tissue 4- put orange on the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput orange on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put orange on the table\n\u003c/PRED\u003e","video":"2151762500613943670.mp4"}
+{"uid":"1110611821625596411","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put oatmeal pack in the paper cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput oatmeal pack in the paper cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put oatmeal pack in the paper cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put oatmeal pack in the paper cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. Q: immediate next step? \u003cPRED\u003eA: put oatmeal pack in the paper cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put oatmeal pack in the paper cup 2- place a tissue on the table 3- place a spoon on the tissue 4- put orange on the table 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput oatmeal pack in the paper cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6589972352818846294.mp4"}
+{"uid":"6520538593656730641","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput cookie on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13682845124855676603.mp4"}
+{"uid":"5529676312316116505","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the chips from the tray. last 20 steps: 1- Put the packet of cinnamon sugar on the table 2- Put the packet of cinnamon sugar on the table 3- Put the packet of parmesan garlic & herb on the table 4- Put the packet of cinnamon sugar on the table 5- Put the packet of parmesan garlic & herb on the table 6- Put the packet of cinnamon sugar on the table 7- Put the packet of cinnamon sugar on the table 8- Put the packet of cinnamon sugar on the table 9- Put the packet of cinnamon sugar on the table 10- Put the packet of cinnamon sugar on the table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the chips from the tray. last 20 steps: 1- Put the packet of cinnamon sugar on the table 2- Put the packet of cinnamon sugar on the table 3- Put the packet of parmesan garlic & herb on the table 4- Put the packet of cinnamon sugar on the table 5- Put the packet of parmesan garlic & herb on the table 6- Put the packet of cinnamon sugar on the table 7- Put the packet of cinnamon sugar on the table 8- Put the packet of cinnamon sugar on the table 9- Put the packet of cinnamon sugar on the table 10- Put the packet of cinnamon sugar on the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the packet of cinnamon sugar on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the chips from the tray Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the packet of cinnamon sugar on the table\n\u003c/PRED\u003e","video":"1957575166304024856.mp4"}
+{"uid":"13162685816164051929","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up the cup with banana peel Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4978524901451725327.mp4"}
+{"uid":"3255193002520091884","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace plastic knives in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8357261942502361965.mp4"}
+{"uid":"651263915701776061","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. Q: immediate next step? \u003cPRED\u003eA: place a spoon on the tissue\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place a spoon on the tissue\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace a spoon on the tissue Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place a spoon on the tissue\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace a spoon on the tissue Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. last 20 steps: 1- put a packet in the bowl 2- place a tissue on the table Q: immediate next step? \u003cPRED\u003eA: place a spoon on the tissue\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. last 20 steps: 1- put a packet in the bowl 2- place a tissue on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place a spoon on the tissue 2- put orange on the table 3- done\n\u003c/PRED\u003e","video":"9639077062830151839.mp4"}
+{"uid":"419384572391776493","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the popcorn packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6021530560813230457.mp4"}
+{"uid":"5568390456492489719","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the pistachio in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10251944165533315625.mp4"}
+{"uid":"859910710134495629","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. Q: immediate next step? \u003cPRED\u003eA: place a tissue on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace a tissue on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace a tissue on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. last 20 steps: 1- put a packet in the bowl Q: immediate next step? \u003cPRED\u003eA: place a tissue on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place a tissue on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place a tissue on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. last 20 steps: 1- put a packet in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place a tissue on the table 2- place a spoon on the tissue 3- put orange on the table 4- done\n\u003c/PRED\u003e","video":"17753599307001593777.mp4"}
+{"uid":"7124058781640284291","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the chips from the tray. last 20 steps: 1- Put the packet of cinnamon sugar on the table 2- Put the packet of cinnamon sugar on the table 3- Put the packet of parmesan garlic & herb on the table 4- Put the packet of cinnamon sugar on the table 5- Put the packet of parmesan garlic & herb on the table 6- Put the packet of cinnamon sugar on the table 7- Put the packet of cinnamon sugar on the table 8- Put the packet of cinnamon sugar on the table 9- Put the packet of cinnamon sugar on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the packet of cinnamon sugar on the table 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the packet of cinnamon sugar on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the packet of cinnamon sugar on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the packet of cinnamon sugar on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the chips from the tray Q: immediate next step? \u003cPRED\u003eA: Put the packet of cinnamon sugar on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the chips from the tray. last 20 steps: 1- Put the packet of cinnamon sugar on the table 2- Put the packet of cinnamon sugar on the table 3- Put the packet of parmesan garlic & herb on the table 4- Put the packet of cinnamon sugar on the table 5- Put the packet of parmesan garlic & herb on the table 6- Put the packet of cinnamon sugar on the table 7- Put the packet of cinnamon sugar on the table 8- Put the packet of cinnamon sugar on the table 9- Put the packet of cinnamon sugar on the table Q: immediate next step? \u003cPRED\u003eA: Put the packet of cinnamon sugar on the table\n\u003c/PRED\u003e","video":"10308481114536056316.mp4"}
+{"uid":"6542161969214448237","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the packet of parmesan garlic & herb on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the packet of parmesan garlic & herb on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the packet of parmesan garlic & herb on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the chips from the tray Q: immediate next step? \u003cPRED\u003eA: Put the packet of parmesan garlic & herb on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the chips from the tray. last 20 steps: 1- Put the packet of cinnamon sugar on the table 2- Put the packet of cinnamon sugar on the table Q: immediate next step? \u003cPRED\u003eA: Put the packet of parmesan garlic & herb on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the chips from the tray. last 20 steps: 1- Put the packet of cinnamon sugar on the table 2- Put the packet of cinnamon sugar on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the packet of parmesan garlic & herb on the table 2- Put the packet of cinnamon sugar on the table 3- Put the packet of parmesan garlic & herb on the table 4- Put the packet of cinnamon sugar on the table 5- Put the packet of cinnamon sugar on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the packet of parmesan garlic & herb on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12641736526314394796.mp4"}
+{"uid":"3658263323499148647","text":"\u003ctask:success:discrete:True\u003e\nPut the tilted glass on the stack Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: restack the cups Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: restack the cups. last 20 steps: 1- turn the blue glass down on the table 2- Stack a yellow glass 3- stack a orange glass 4- put the yellow glass over the stack 5- place the red glass over the stack 6- Put the tilted glass on the stack Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: restack the cups. last 20 steps: 1- turn the blue glass down on the table 2- Stack a yellow glass 3- stack a orange glass 4- put the yellow glass over the stack 5- place the red glass over the stack 6- Put the tilted glass on the stack Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the tilted glass on the stack\n\u003c/PRED\u003e","video":"1407687843760373388.mp4"}
+{"uid":"5845519380869456396","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5258590522165473345.mp4"}
+{"uid":"7040236991710158060","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput candy balls in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6352162985678485240.mp4"}
+{"uid":"2965093462099915420","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Pickup the orange glass\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPickup the orange glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: restack the cups. last 20 steps: 1- turn the blue glass down on the table 2- Stack a yellow glass 3- stack a orange glass 4- put the yellow glass over the stack 5- place the red glass over the stack 6- Pickup the orange glass Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: restack the cups Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: restack the cups. last 20 steps: 1- turn the blue glass down on the table 2- Stack a yellow glass 3- stack a orange glass 4- put the yellow glass over the stack 5- place the red glass over the stack 6- Pickup the orange glass Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"10970647368858109206.mp4"}
+{"uid":"925378885227410561","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the yellow candy in a glass jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13443216397424501185.mp4"}
+{"uid":"3545828776252539406","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: restack the cups. last 20 steps: 1- turn the blue glass down on the table 2- Stack a yellow glass 3- stack a orange glass 4- put the yellow glass over the stack 5- place the red glass over the stack 6- Pickup the orange glass Q: next 5 steps? \u003cPRED\u003eA: 1- Stack the orange glass 2- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nStack the orange glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Stack the orange glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: restack the cups. last 20 steps: 1- turn the blue glass down on the table 2- Stack a yellow glass 3- stack a orange glass 4- put the yellow glass over the stack 5- place the red glass over the stack 6- Pickup the orange glass Q: immediate next step? \u003cPRED\u003eA: Stack the orange glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: restack the cups Q: immediate next step? \u003cPRED\u003eA: Stack the orange glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nStack the orange glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Stack the orange glass\n\u003c/PRED\u003e","video":"691347813110969845.mp4"}
+{"uid":"13136023949284245385","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the green glass above the blue glass\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the green glass above the blue glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18194658475416118309.mp4"}
+{"uid":"9959630882936417494","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput banana on the tissue Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15236270801943096007.mp4"}
+{"uid":"17162829375934095150","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place a blue glass on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: restack the cups. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Place a blue glass on the table 2- Stack a yellow glass 3- stack a orange glass 4- put the yellow glass over the stack 5- place the red glass over the stack\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place a blue glass on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: restack the cups Q: immediate next step? \u003cPRED\u003eA: Place a blue glass on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: restack the cups. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Place a blue glass on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace a blue glass on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace a blue glass on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4188189210162165037.mp4"}
+{"uid":"10783201156876158814","text":"\u003ctask:success:discrete:True\u003e\nPick the orange glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Pick the orange glass\n\u003c/PRED\u003e","video":"12782269828010939320.mp4"}
+{"uid":"7076458781871742769","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: restack the cups. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Put the tilted glass upside down\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the tilted glass upside down\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: restack the cups Q: immediate next step? \u003cPRED\u003eA: Put the tilted glass upside down\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the tilted glass upside down Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: restack the cups. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Put the tilted glass upside down 2- Stack a yellow glass 3- stack a orange glass 4- put the yellow glass over the stack 5- place the red glass over the stack\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the tilted glass upside down Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the tilted glass upside down\n\u003c/PRED\u003e","video":"16395159858868215269.mp4"}
+{"uid":"16591880638031886936","text":"\u003ctask:success:discrete:True\u003e\nstack the orange glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the red glass over the stack Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: stack the orange glass\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the red glass over the stack\n\u003c/PRED\u003e","video":"4302800886839768093.mp4"}
+{"uid":"1410397356461626982","text":"\u003ctask:success:discrete:True\u003e\nturn the blue glass down on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: turn the blue glass down on the table\n\u003c/PRED\u003e","video":"10075019017504782477.mp4"}
+{"uid":"8565062865868829031","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the tilted glass on the stack\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the tilted glass on the stack Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8277245702753510528.mp4"}
+{"uid":"4089443630652459820","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: stack the orange glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nstack the orange glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: restack the cups. last 20 steps: 1- turn the blue glass down on the table 2- Stack a yellow glass 3- stack a orange glass 4- put the yellow glass over the stack Q: next 5 steps? \u003cPRED\u003eA: 1- stack the orange glass 2- Pickup the orange glass 3- Put the tilted glass on the stack 4- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: restack the cups Q: immediate next step? \u003cPRED\u003eA: stack the orange glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nstack the orange glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: stack the orange glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: restack the cups. last 20 steps: 1- turn the blue glass down on the table 2- Stack a yellow glass 3- stack a orange glass 4- put the yellow glass over the stack Q: immediate next step? \u003cPRED\u003eA: stack the orange glass\n\u003c/PRED\u003e","video":"6430905603959886924.mp4"}
+{"uid":"819744772111995715","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the sugar candy in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7262060232350755057.mp4"}
+{"uid":"16852797636887793305","text":"\u003ctask:success:discrete:False\u003e\nPut the tilted glass on the stack Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the tilted glass on the stack\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the tilted glass on the stack\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: restack the cups Q: immediate next step? \u003cPRED\u003eA: Put the tilted glass on the stack\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: restack the cups. last 20 steps: 1- turn the blue glass down on the table 2- Stack a yellow glass 3- stack a orange glass 4- put the yellow glass over the stack Q: next 5 steps? \u003cPRED\u003eA: 1- Put the tilted glass on the stack 2- Pickup the orange glass 3- Put the tilted glass on the stack 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the tilted glass on the stack Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: restack the cups. last 20 steps: 1- turn the blue glass down on the table 2- Stack a yellow glass 3- stack a orange glass 4- put the yellow glass over the stack Q: immediate next step? \u003cPRED\u003eA: Put the tilted glass on the stack\n\u003c/PRED\u003e","video":"8116838301077810532.mp4"}
+{"uid":"18027597976730336291","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the pink packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"605140358784410304.mp4"}
+{"uid":"7476799454110396983","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place a blue glass on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace a blue glass on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11799029135601539734.mp4"}
+{"uid":"11643573130199617824","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the candy in the brown bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7918916221464357429.mp4"}
+{"uid":"16836552985657437634","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Stack a yellow glass\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nStack a yellow glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8513114738854312910.mp4"}
+{"uid":"402167224182990847","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the tilted glass on the upside down glass\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the tilted glass on the upside down glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3681302019979148152.mp4"}
+{"uid":"17814953294181402474","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Stack the yellow glass\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nStack the yellow glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"750515484049203109.mp4"}
+{"uid":"11787097457344773094","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput packets on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10568321892794879104.mp4"}
+{"uid":"15025600912989560169","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the green glass above the blue glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: restack the cups Q: immediate next step? \u003cPRED\u003eA: put the green glass above the blue glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: restack the cups. last 20 steps: 1- turn the blue glass down on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put the green glass above the blue glass 2- stack a orange glass 3- put the yellow glass over the stack 4- place the red glass over the stack 5- Pickup the orange glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the green glass above the blue glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the green glass above the blue glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: restack the cups. last 20 steps: 1- turn the blue glass down on the table Q: immediate next step? \u003cPRED\u003eA: put the green glass above the blue glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the green glass above the blue glass\n\u003c/PRED\u003e","video":"11149211210762721941.mp4"}
+{"uid":"12774456784038053987","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up the top left ball Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13345847650708135513.mp4"}
+{"uid":"10481277088618809039","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the red glass over the stack\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the red glass over the stack\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: restack the cups Q: immediate next step? \u003cPRED\u003eA: place the red glass over the stack\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the red glass over the stack Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: restack the cups. last 20 steps: 1- turn the blue glass down on the table 2- Stack a yellow glass 3- stack a orange glass 4- put the yellow glass over the stack Q: immediate next step? \u003cPRED\u003eA: place the red glass over the stack\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: restack the cups. last 20 steps: 1- turn the blue glass down on the table 2- Stack a yellow glass 3- stack a orange glass 4- put the yellow glass over the stack Q: next 5 steps? \u003cPRED\u003eA: 1- place the red glass over the stack 2- Pickup the orange glass 3- Put the tilted glass on the stack 4- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the red glass over the stack Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7398259601392481365.mp4"}
+{"uid":"40938761066323522","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick a pen Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12573569852613371712.mp4"}
+{"uid":"11876650135136716336","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: restack the cups Q: immediate next step? \u003cPRED\u003eA: Stack a yellow glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: restack the cups. last 20 steps: 1- turn the blue glass down on the table Q: immediate next step? \u003cPRED\u003eA: Stack a yellow glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nStack a yellow glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: restack the cups. last 20 steps: 1- turn the blue glass down on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Stack a yellow glass 2- stack a orange glass 3- put the yellow glass over the stack 4- place the red glass over the stack 5- Pickup the orange glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Stack a yellow glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nStack a yellow glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Stack a yellow glass\n\u003c/PRED\u003e","video":"14076027428784214847.mp4"}
+{"uid":"15178533163710418540","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the yellow glass over the stack\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the yellow glass over the stack Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13660465205133812865.mp4"}
+{"uid":"6851636041783077470","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12760611909806165903.mp4"}
+{"uid":"17052704291629749805","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the Pistachio in the paper glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5428314418461117213.mp4"}
+{"uid":"8278053232536429682","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove close to the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12594593522367092150.mp4"}
+{"uid":"9281339646868396143","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pickup the orange glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pickup the orange glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: restack the cups Q: immediate next step? \u003cPRED\u003eA: Pickup the orange glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPickup the orange glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: restack the cups. last 20 steps: 1- turn the blue glass down on the table 2- Stack a yellow glass 3- stack a orange glass 4- put the yellow glass over the stack 5- place the red glass over the stack Q: next 5 steps? \u003cPRED\u003eA: 1- Pickup the orange glass 2- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPickup the orange glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: restack the cups. last 20 steps: 1- turn the blue glass down on the table 2- Stack a yellow glass 3- stack a orange glass 4- put the yellow glass over the stack 5- place the red glass over the stack Q: immediate next step? \u003cPRED\u003eA: Pickup the orange glass\n\u003c/PRED\u003e","video":"11990824563111536733.mp4"}
+{"uid":"14457402373156577819","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the pink shoes on right corner on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13369164771651130791.mp4"}
+{"uid":"15364956211583298162","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: restack the cups. last 20 steps: 1- turn the blue glass down on the table 2- Stack a yellow glass Q: immediate next step? \u003cPRED\u003eA: Put the tilted glass on the stack\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: restack the cups. last 20 steps: 1- turn the blue glass down on the table 2- Stack a yellow glass Q: next 5 steps? \u003cPRED\u003eA: 1- Put the tilted glass on the stack 2- put the yellow glass over the stack 3- place the red glass over the stack 4- Pickup the orange glass 5- Put the tilted glass on the stack\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the tilted glass on the stack Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the tilted glass on the stack Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the tilted glass on the stack\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the tilted glass on the stack\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: restack the cups Q: immediate next step? \u003cPRED\u003eA: Put the tilted glass on the stack\n\u003c/PRED\u003e","video":"12894933814545527783.mp4"}
+{"uid":"1880746173552939866","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: restack the cups Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: restack the cups. last 20 steps: 1- turn the blue glass down on the table 2- Stack a yellow glass 3- stack a orange glass 4- put the yellow glass over the stack 5- place the red glass over the stack 6- Pickup the orange glass 7- Stack the orange glass Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nStack the orange glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: restack the cups. last 20 steps: 1- turn the blue glass down on the table 2- Stack a yellow glass 3- stack a orange glass 4- put the yellow glass over the stack 5- place the red glass over the stack 6- Pickup the orange glass 7- Stack the orange glass Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Stack the orange glass\n\u003c/PRED\u003e","video":"341423256933403720.mp4"}
+{"uid":"14190800350769135806","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the blue pen in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8527287758355671676.mp4"}
+{"uid":"3947627147917483389","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the tilted glass on the upside down glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: restack the cups Q: immediate next step? \u003cPRED\u003eA: Put the tilted glass on the upside down glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the tilted glass on the upside down glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the tilted glass on the upside down glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the tilted glass on the upside down glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: restack the cups. last 20 steps: 1- turn the blue glass down on the table Q: immediate next step? \u003cPRED\u003eA: Put the tilted glass on the upside down glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: restack the cups. last 20 steps: 1- turn the blue glass down on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the tilted glass on the upside down glass 2- stack a orange glass 3- put the yellow glass over the stack 4- place the red glass over the stack 5- Pickup the orange glass\n\u003c/PRED\u003e","video":"5572885591738746555.mp4"}
+{"uid":"4958432437868573096","text":"\u003ctask:success:discrete:False\u003e\nPut the tilted glass on the stack Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the tilted glass on the stack Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: restack the cups. last 20 steps: 1- turn the blue glass down on the table 2- Stack a yellow glass 3- stack a orange glass Q: next 5 steps? \u003cPRED\u003eA: 1- Put the tilted glass on the stack 2- Pickup the orange glass 3- Put the tilted glass on the stack 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the tilted glass on the stack\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: restack the cups. last 20 steps: 1- turn the blue glass down on the table 2- Stack a yellow glass 3- stack a orange glass Q: immediate next step? \u003cPRED\u003eA: Put the tilted glass on the stack\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: restack the cups Q: immediate next step? \u003cPRED\u003eA: Put the tilted glass on the stack\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the tilted glass on the stack\n\u003c/PRED\u003e","video":"3245983188457937796.mp4"}
+{"uid":"2965696903350624543","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: restack the cups Q: immediate next step? \u003cPRED\u003eA: Stack the yellow glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nStack the yellow glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nStack the yellow glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Stack the yellow glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Stack the yellow glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: restack the cups. last 20 steps: 1- turn the blue glass down on the table 2- Stack a yellow glass 3- stack a orange glass Q: next 5 steps? \u003cPRED\u003eA: 1- Stack the yellow glass 2- place the red glass over the stack 3- Pickup the orange glass 4- Put the tilted glass on the stack 5- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: restack the cups. last 20 steps: 1- turn the blue glass down on the table 2- Stack a yellow glass 3- stack a orange glass Q: immediate next step? \u003cPRED\u003eA: Stack the yellow glass\n\u003c/PRED\u003e","video":"8789978959585959550.mp4"}
+{"uid":"14285981774517546543","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick the paper clip from the storage box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11476364509529806831.mp4"}
+{"uid":"6293147238521435032","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the orange on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6435451354863674462.mp4"}
+{"uid":"4487446261410090929","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: restack the cups Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: restack the cups. last 20 steps: 1- turn the blue glass down on the table 2- Stack a yellow glass 3- stack a orange glass 4- put the yellow glass over the stack 5- place the red glass over the stack 6- place  the pink glass over the stack Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: restack the cups. last 20 steps: 1- turn the blue glass down on the table 2- Stack a yellow glass 3- stack a orange glass 4- put the yellow glass over the stack 5- place the red glass over the stack 6- place  the pink glass over the stack Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace  the pink glass over the stack Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place  the pink glass over the stack\n\u003c/PRED\u003e","video":"468557245355572999.mp4"}
+{"uid":"16143826764433089329","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: stack a orange glass\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nstack a orange glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17152775953564340095.mp4"}
+{"uid":"7398991276994479583","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: restack the cups Q: immediate next step? \u003cPRED\u003eA: Put the tilted glass on the stack\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the tilted glass on the stack\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: restack the cups. last 20 steps: 1- turn the blue glass down on the table 2- Stack a yellow glass 3- stack a orange glass 4- put the yellow glass over the stack 5- place the red glass over the stack Q: immediate next step? \u003cPRED\u003eA: Put the tilted glass on the stack\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the tilted glass on the stack Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: restack the cups. last 20 steps: 1- turn the blue glass down on the table 2- Stack a yellow glass 3- stack a orange glass 4- put the yellow glass over the stack 5- place the red glass over the stack Q: next 5 steps? \u003cPRED\u003eA: 1- Put the tilted glass on the stack 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the tilted glass on the stack Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the tilted glass on the stack\n\u003c/PRED\u003e","video":"12688593052284212191.mp4"}
+{"uid":"11657598077958227207","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the pink glass in the stack\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the pink glass in the stack Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10264051898863502612.mp4"}
+{"uid":"7358056318448242588","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace red pen inside the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8897602536719017831.mp4"}
+{"uid":"11602086944112752859","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: restack the cups. last 20 steps: 1- turn the blue glass down on the table 2- Stack a yellow glass 3- stack a orange glass 4- put the yellow glass over the stack Q: next 5 steps? \u003cPRED\u003eA: 1- Pick the orange glass 2- Pickup the orange glass 3- Put the tilted glass on the stack 4- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: restack the cups Q: immediate next step? \u003cPRED\u003eA: Pick the orange glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick the orange glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick the orange glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: restack the cups. last 20 steps: 1- turn the blue glass down on the table 2- Stack a yellow glass 3- stack a orange glass 4- put the yellow glass over the stack Q: immediate next step? \u003cPRED\u003eA: Pick the orange glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick the orange glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick the orange glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1775996255492706474.mp4"}
+{"uid":"7420979697413959376","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: turn the blue glass down on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: turn the blue glass down on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nturn the blue glass down on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: restack the cups. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- turn the blue glass down on the table 2- Stack a yellow glass 3- stack a orange glass 4- put the yellow glass over the stack 5- place the red glass over the stack\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: restack the cups. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: turn the blue glass down on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nturn the blue glass down on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: restack the cups Q: immediate next step? \u003cPRED\u003eA: turn the blue glass down on the table\n\u003c/PRED\u003e","video":"13988108704846300456.mp4"}
+{"uid":"10225590072496229668","text":"\u003ctask:success:discrete:False\u003e\nplace  the pink glass over the stack Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: restack the cups Q: immediate next step? \u003cPRED\u003eA: place  the pink glass over the stack\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: restack the cups. last 20 steps: 1- turn the blue glass down on the table 2- Stack a yellow glass 3- stack a orange glass 4- put the yellow glass over the stack 5- place the red glass over the stack Q: next 5 steps? \u003cPRED\u003eA: 1- place  the pink glass over the stack 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place  the pink glass over the stack\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: restack the cups. last 20 steps: 1- turn the blue glass down on the table 2- Stack a yellow glass 3- stack a orange glass 4- put the yellow glass over the stack 5- place the red glass over the stack Q: immediate next step? \u003cPRED\u003eA: place  the pink glass over the stack\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place  the pink glass over the stack\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace  the pink glass over the stack Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1772119976300272281.mp4"}
+{"uid":"2441329714937487125","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the glass upside down on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17830894293656821782.mp4"}
+{"uid":"16255285468116651871","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: restack the cups. last 20 steps: 1- turn the blue glass down on the table 2- Stack a yellow glass Q: immediate next step? \u003cPRED\u003eA: put the pink glass in the stack\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the pink glass in the stack\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the pink glass in the stack Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pink glass in the stack\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: restack the cups Q: immediate next step? \u003cPRED\u003eA: put the pink glass in the stack\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: restack the cups. last 20 steps: 1- turn the blue glass down on the table 2- Stack a yellow glass Q: next 5 steps? \u003cPRED\u003eA: 1- put the pink glass in the stack 2- put the yellow glass over the stack 3- place the red glass over the stack 4- Pickup the orange glass 5- Put the tilted glass on the stack\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the pink glass in the stack Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5648993445487228265.mp4"}
+{"uid":"16322490261935010823","text":"\u003ctask:success:discrete:True\u003e\nPut the tilted glass on the stack Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the tilted glass on the stack\n\u003c/PRED\u003e","video":"12263852480305032358.mp4"}
+{"uid":"5007018251246585438","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: restack the cups Q: immediate next step? \u003cPRED\u003eA: stack a orange glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nstack a orange glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: restack the cups. last 20 steps: 1- turn the blue glass down on the table 2- Stack a yellow glass Q: immediate next step? \u003cPRED\u003eA: stack a orange glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: stack a orange glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: stack a orange glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nstack a orange glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: restack the cups. last 20 steps: 1- turn the blue glass down on the table 2- Stack a yellow glass Q: next 5 steps? \u003cPRED\u003eA: 1- stack a orange glass 2- place the red glass over the stack 3- Pickup the orange glass 4- Put the tilted glass on the stack 5- done\n\u003c/PRED\u003e","video":"12758861536380363249.mp4"}
+{"uid":"8250619233032046665","text":"\u003ctask:success:discrete:True\u003e\nPut the tilted glass on the stack Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the tilted glass on the stack\n\u003c/PRED\u003e","video":"8274678859108963106.mp4"}
+{"uid":"12555197666470907813","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: restack the cups Q: immediate next step? \u003cPRED\u003eA: put the yellow glass over the stack\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: restack the cups. last 20 steps: 1- turn the blue glass down on the table 2- Stack a yellow glass Q: next 5 steps? \u003cPRED\u003eA: 1- put the yellow glass over the stack 2- place the red glass over the stack 3- Pickup the orange glass 4- Put the tilted glass on the stack 5- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the yellow glass over the stack\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the yellow glass over the stack Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the yellow glass over the stack\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: restack the cups. last 20 steps: 1- turn the blue glass down on the table 2- Stack a yellow glass Q: immediate next step? \u003cPRED\u003eA: put the yellow glass over the stack\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the yellow glass over the stack Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17552219756481328680.mp4"}
+{"uid":"11734470240743260315","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the chocolates into the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13160859162528498152.mp4"}
+{"uid":"9245572372049164624","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the yellow chocolate in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15777422972145652042.mp4"}
+{"uid":"5481624242397398581","text":"\u003ctask:success:discrete:False\u003e\nput candy in tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put candy in tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput candy in tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the chocolate in the candy holder Q: immediate next step? \u003cPRED\u003eA: put candy in tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the chocolate in the candy holder. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put candy in tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put candy in tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the chocolate in the candy holder. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put candy in tray 2- Put the purple candy in the tray 3- Put the green candy in the tray 4- put candy in tray 5- Put the green candy in the tray\n\u003c/PRED\u003e","video":"15893985730266075342.mp4"}
+{"uid":"3487708201792974765","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the chocolate in the candy holder. last 20 steps: 1- put the candies in the tray box 2- Put the purple candy in the tray Q: immediate next step? \u003cPRED\u003eA: put the candy in the tray box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the candy in the tray box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the chocolate in the candy holder Q: immediate next step? \u003cPRED\u003eA: put the candy in the tray box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the candy in the tray box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the candy in the tray box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the chocolate in the candy holder. last 20 steps: 1- put the candies in the tray box 2- Put the purple candy in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put the candy in the tray box 2- put candy in tray 3- Put the green candy in the tray 4- put the candy in the tray box 5- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the candy in the tray box\n\u003c/PRED\u003e","video":"9486884022332292617.mp4"}
+{"uid":"4010032909541398989","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput candy in tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the chocolate in the candy holder. last 20 steps: 1- put the candies in the tray box Q: immediate next step? \u003cPRED\u003eA: put candy in tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the chocolate in the candy holder. last 20 steps: 1- put the candies in the tray box Q: next 5 steps? \u003cPRED\u003eA: 1- put candy in tray 2- Put the green candy in the tray 3- put candy in tray 4- Put the green candy in the tray 5- put the candy in the tray box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the chocolate in the candy holder Q: immediate next step? \u003cPRED\u003eA: put candy in tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put candy in tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put candy in tray\n\u003c/PRED\u003e","video":"4570924564112446765.mp4"}
+{"uid":"11413653018739516809","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put candy in tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the chocolate in the candy holder. last 20 steps: 1- put the candies in the tray box 2- Put the purple candy in the tray 3- Put the green candy in the tray 4- put candy in tray 5- Put the green candy in the tray Q: immediate next step? \u003cPRED\u003eA: put candy in tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput candy in tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put candy in tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput candy in tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the chocolate in the candy holder Q: immediate next step? \u003cPRED\u003eA: put candy in tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the chocolate in the candy holder. last 20 steps: 1- put the candies in the tray box 2- Put the purple candy in the tray 3- Put the green candy in the tray 4- put candy in tray 5- Put the green candy in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put candy in tray 2- done\n\u003c/PRED\u003e","video":"13587921906926315165.mp4"}
+{"uid":"15897813705179766566","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the chocolate in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17079072304109936581.mp4"}
+{"uid":"16228028710763506482","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the packets in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15367847587872017308.mp4"}
+{"uid":"7601137401672041997","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut adapter on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15732792759588703919.mp4"}
+{"uid":"6279753275346287670","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace white packets in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9159702564839958945.mp4"}
+{"uid":"3949241130053983870","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"553344998964584155.mp4"}
+{"uid":"8272894570458688999","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the candies in the tray box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the candies in the tray box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17311504266651155524.mp4"}
+{"uid":"13323802855087034718","text":"\u003ctask:success:discrete:True\u003e\nput the candy in the tray box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the candy in the tray box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the chocolate in the candy holder. last 20 steps: 1- put the candies in the tray box 2- Put the purple candy in the tray 3- Put the green candy in the tray 4- put candy in tray 5- Put the green candy in the tray 6- put the candy in the tray box Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the chocolate in the candy holder Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the chocolate in the candy holder. last 20 steps: 1- put the candies in the tray box 2- Put the purple candy in the tray 3- Put the green candy in the tray 4- put candy in tray 5- Put the green candy in the tray 6- put the candy in the tray box Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"16388546092461547656.mp4"}
+{"uid":"516519469283882710","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput fork in holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15606948906182586164.mp4"}
+{"uid":"11939132941259736347","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13783105723324690814.mp4"}
+{"uid":"5089508878740270866","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put candy in tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput candy in tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8870542193638964635.mp4"}
+{"uid":"8157879769364383197","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput black packet in drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"749781258358042063.mp4"}
+{"uid":"2153529251284610825","text":"\u003ctask:success:discrete:True\u003e\nput the candy in the tray box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the candy in the tray box\n\u003c/PRED\u003e","video":"12367659054531077329.mp4"}
+{"uid":"16878612128304255047","text":"\u003ctask:success:discrete:False\u003e\nput the candies in the tray box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the candies in the tray box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the candies in the tray box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the chocolate in the candy holder. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put the candies in the tray box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the chocolate in the candy holder. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put the candies in the tray box 2- Put the purple candy in the tray 3- Put the green candy in the tray 4- put candy in tray 5- Put the green candy in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the candies in the tray box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the chocolate in the candy holder Q: immediate next step? \u003cPRED\u003eA: put the candies in the tray box\n\u003c/PRED\u003e","video":"10916509874607469670.mp4"}
+{"uid":"7786452833929050324","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the fork in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7808744536974209083.mp4"}
+{"uid":"17779032315056573855","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the chocolate in the candy holder. last 20 steps: 1- put the candies in the tray box 2- Put the purple candy in the tray 3- Put the green candy in the tray 4- put candy in tray 5- Put the green candy in the tray Q: immediate next step? \u003cPRED\u003eA: Put the green candy in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the chocolate in the candy holder. last 20 steps: 1- put the candies in the tray box 2- Put the purple candy in the tray 3- Put the green candy in the tray 4- put candy in tray 5- Put the green candy in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Put the green candy in the tray 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the green candy in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the green candy in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the green candy in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the chocolate in the candy holder Q: immediate next step? \u003cPRED\u003eA: Put the green candy in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the green candy in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7347334874059696346.mp4"}
+{"uid":"15627403669687073379","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the candy in the tray box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the candy in the tray box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the chocolate in the candy holder Q: immediate next step? \u003cPRED\u003eA: put the candy in the tray box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the candy in the tray box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the chocolate in the candy holder. last 20 steps: 1- put the candies in the tray box 2- Put the purple candy in the tray 3- Put the green candy in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put the candy in the tray box 2- Put the green candy in the tray 3- put the candy in the tray box 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the chocolate in the candy holder. last 20 steps: 1- put the candies in the tray box 2- Put the purple candy in the tray 3- Put the green candy in the tray Q: immediate next step? \u003cPRED\u003eA: put the candy in the tray box\n\u003c/PRED\u003e","video":"16824096972366474533.mp4"}
+{"uid":"10213776908337788041","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput orange in white bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14809475960204543543.mp4"}
+{"uid":"17277627812554824283","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the candy in the tray box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the chocolate in the candy holder Q: immediate next step? \u003cPRED\u003eA: put candy in tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the chocolate in the candy holder. last 20 steps: 1- put the candies in the tray box 2- Put the purple candy in the tray 3- Put the green candy in the tray 4- put candy in tray Q: immediate next step? \u003cPRED\u003eA: put candy in tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the chocolate in the candy holder. last 20 steps: 1- put the candies in the tray box 2- Put the purple candy in the tray 3- Put the green candy in the tray 4- put candy in tray Q: next 5 steps? \u003cPRED\u003eA: 1- put candy in tray 2- put the candy in the tray box 3- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put candy in tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the candy in the tray box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the chocolate in the candy holder. last 20 steps: 1- put the candies in the tray box 2- Put the purple candy in the tray 3- Put the green candy in the tray 4- put candy in tray Q: next 5 steps? \u003cPRED\u003eA: 1- put the candy in the tray box 2- put the candy in the tray box 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput candy in tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the chocolate in the candy holder. last 20 steps: 1- put the candies in the tray box 2- Put the purple candy in the tray 3- Put the green candy in the tray 4- put candy in tray Q: immediate next step? \u003cPRED\u003eA: put the candy in the tray box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put candy in tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the candy in the tray box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the chocolate in the candy holder Q: immediate next step? \u003cPRED\u003eA: put the candy in the tray box\n\u003c/PRED\u003e","video":"10008464714584123235.mp4"}
+{"uid":"9547858627393665975","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up the notebook Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"165179216318222014.mp4"}
+{"uid":"4145508879881991298","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put candy in tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put candy in tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the chocolate in the candy holder Q: immediate next step? \u003cPRED\u003eA: put candy in tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the chocolate in the candy holder. last 20 steps: 1- put the candies in the tray box 2- Put the purple candy in the tray 3- Put the green candy in the tray Q: immediate next step? \u003cPRED\u003eA: put candy in tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput candy in tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the chocolate in the candy holder. last 20 steps: 1- put the candies in the tray box 2- Put the purple candy in the tray 3- Put the green candy in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put candy in tray 2- Put the green candy in the tray 3- put the candy in the tray box 4- done\n\u003c/PRED\u003e","video":"4901577757630293187.mp4"}
+{"uid":"14375875828966754563","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put candy in tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the chocolate in the candy holder. last 20 steps: 1- put the candies in the tray box 2- Put the purple candy in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put candy in tray 2- put candy in tray 3- Put the green candy in the tray 4- put the candy in the tray box 5- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput candy in tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put candy in tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput candy in tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the chocolate in the candy holder. last 20 steps: 1- put the candies in the tray box 2- Put the purple candy in the tray Q: immediate next step? \u003cPRED\u003eA: put candy in tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the chocolate in the candy holder Q: immediate next step? \u003cPRED\u003eA: put candy in tray\n\u003c/PRED\u003e","video":"3045145559362293802.mp4"}
+{"uid":"8540420879744275682","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the purple candy in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the chocolate in the candy holder. last 20 steps: 1- put the candies in the tray box Q: immediate next step? \u003cPRED\u003eA: Put the purple candy in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the chocolate in the candy holder. last 20 steps: 1- put the candies in the tray box Q: next 5 steps? \u003cPRED\u003eA: 1- Put the purple candy in the tray 2- Put the green candy in the tray 3- put candy in tray 4- Put the green candy in the tray 5- put the candy in the tray box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the purple candy in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the chocolate in the candy holder Q: immediate next step? \u003cPRED\u003eA: Put the purple candy in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the purple candy in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1365414459130727823.mp4"}
+{"uid":"10685976871958662345","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the chocolate in the candy holder. last 20 steps: 1- put the candies in the tray box 2- Put the purple candy in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Put the green candy in the tray 2- put candy in tray 3- Put the green candy in the tray 4- put the candy in the tray box 5- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the green candy in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the green candy in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the green candy in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the green candy in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the chocolate in the candy holder Q: immediate next step? \u003cPRED\u003eA: Put the green candy in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the chocolate in the candy holder. last 20 steps: 1- put the candies in the tray box 2- Put the purple candy in the tray Q: immediate next step? \u003cPRED\u003eA: Put the green candy in the tray\n\u003c/PRED\u003e","video":"14644221608688339260.mp4"}
+{"uid":"16538382371723068285","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput candy in order Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6148839682834732379.mp4"}
+{"uid":"4405877067230037927","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the pear on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16495620483289378503.mp4"}
+{"uid":"14589369243982806474","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack a cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the sugar packet in the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10150004808352599393.mp4"}
+{"uid":"17086520367931049187","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the sticky notes in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15023579325031284684.mp4"}
+{"uid":"77650234738887955","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the chocolate in the candy holder. last 20 steps: 1- put the candies in the tray box Q: immediate next step? \u003cPRED\u003eA: put the candy in the tray box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the chocolate in the candy holder Q: immediate next step? \u003cPRED\u003eA: put the candy in the tray box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the candy in the tray box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the candy in the tray box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the candy in the tray box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the candy in the tray box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the chocolate in the candy holder. last 20 steps: 1- put the candies in the tray box Q: next 5 steps? \u003cPRED\u003eA: 1- put the candy in the tray box 2- Put the green candy in the tray 3- put candy in tray 4- Put the green candy in the tray 5- put the candy in the tray box\n\u003c/PRED\u003e","video":"6815315342814181680.mp4"}
+{"uid":"2806368104444973663","text":"\u003ctask:success:discrete:False\u003e\nPut the purple candy in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the purple candy in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the purple candy in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the chocolate in the candy holder Q: immediate next step? \u003cPRED\u003eA: Put the purple candy in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the purple candy in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the chocolate in the candy holder. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Put the purple candy in the tray 2- Put the purple candy in the tray 3- Put the green candy in the tray 4- put candy in tray 5- Put the green candy in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the chocolate in the candy holder. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Put the purple candy in the tray\n\u003c/PRED\u003e","video":"4122834045958055746.mp4"}
+{"uid":"13050224111872697454","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the candy in the tray box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the chocolate in the candy holder. last 20 steps: 1- put the candies in the tray box 2- Put the purple candy in the tray 3- Put the green candy in the tray 4- put candy in tray 5- Put the green candy in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put the candy in the tray box 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the chocolate in the candy holder. last 20 steps: 1- put the candies in the tray box 2- Put the purple candy in the tray 3- Put the green candy in the tray 4- put candy in tray 5- Put the green candy in the tray Q: immediate next step? \u003cPRED\u003eA: put the candy in the tray box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the candy in the tray box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the chocolate in the candy holder Q: immediate next step? \u003cPRED\u003eA: put the candy in the tray box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the candy in the tray box\n\u003c/PRED\u003e","video":"16584099730493645978.mp4"}
+{"uid":"11240410480328925665","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the green candy in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the chocolate in the candy holder. last 20 steps: 1- put the candies in the tray box 2- Put the purple candy in the tray 3- Put the green candy in the tray 4- put candy in tray Q: immediate next step? \u003cPRED\u003eA: Put the green candy in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the chocolate in the candy holder. last 20 steps: 1- put the candies in the tray box 2- Put the purple candy in the tray 3- Put the green candy in the tray 4- put candy in tray Q: next 5 steps? \u003cPRED\u003eA: 1- Put the green candy in the tray 2- put the candy in the tray box 3- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the green candy in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the chocolate in the candy holder Q: immediate next step? \u003cPRED\u003eA: Put the green candy in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the green candy in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6533504358368764418.mp4"}
+{"uid":"11865180652990973541","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the chocolate in the candy holder. last 20 steps: 1- put the candies in the tray box 2- Put the purple candy in the tray 3- Put the green candy in the tray Q: immediate next step? \u003cPRED\u003eA: Put the green candy in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the green candy in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the chocolate in the candy holder. last 20 steps: 1- put the candies in the tray box 2- Put the purple candy in the tray 3- Put the green candy in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Put the green candy in the tray 2- Put the green candy in the tray 3- put the candy in the tray box 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the green candy in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the chocolate in the candy holder Q: immediate next step? \u003cPRED\u003eA: Put the green candy in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the green candy in the tray\n\u003c/PRED\u003e","video":"265893340383812920.mp4"}
+{"uid":"10329805726527345033","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the Pistachio in the paper glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5169549153953999445.mp4"}
+{"uid":"3003436698798071210","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7588517611460043468.mp4"}
+{"uid":"10081881558374988986","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop the paper glass in the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put remaining items into the cardboard box. last 20 steps: 1- move away from the table 2- touch the black holder 3- pick the black holder 4- drop the black holder in the box 5- pick the hint bottle 6- Drop the hint bottle in the box 7- Pick up the left bottle from the table 8- drop the bottle in the box 9- grasp the bottle 10- release the bottle 11- hold the bottle 12- pick the bottle 13- Drop the bottle into the box Q: immediate next step? \u003cPRED\u003eA: Drop the paper glass in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop the paper glass in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put remaining items into the cardboard box. last 20 steps: 1- move away from the table 2- touch the black holder 3- pick the black holder 4- drop the black holder in the box 5- pick the hint bottle 6- Drop the hint bottle in the box 7- Pick up the left bottle from the table 8- drop the bottle in the box 9- grasp the bottle 10- release the bottle 11- hold the bottle 12- pick the bottle 13- Drop the bottle into the box Q: next 5 steps? \u003cPRED\u003eA: 1- Drop the paper glass in the box 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop the paper glass in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrop the paper glass in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put remaining items into the cardboard box Q: immediate next step? \u003cPRED\u003eA: Drop the paper glass in the box\n\u003c/PRED\u003e","video":"7616078676932221011.mp4"}
+{"uid":"9560031960425039034","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the candy in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8411383304201691682.mp4"}
+{"uid":"3649231359369541670","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the napkin on the white table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2200540582003591700.mp4"}
+{"uid":"7048222193157277370","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the instant oatmeal pack in the container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10126042243077216611.mp4"}
+{"uid":"14157985906522120666","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17843953444257984620.mp4"}
+{"uid":"9421790148382089923","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nGrab the bottle on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put remaining items into the cardboard box. last 20 steps: 1- move away from the table 2- touch the black holder 3- pick the black holder 4- drop the black holder in the box 5- pick the hint bottle 6- Drop the hint bottle in the box 7- Pick up the left bottle from the table 8- drop the bottle in the box 9- grasp the bottle Q: immediate next step? \u003cPRED\u003eA: Grab the bottle on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nGrab the bottle on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Grab the bottle on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put remaining items into the cardboard box Q: immediate next step? \u003cPRED\u003eA: Grab the bottle on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Grab the bottle on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put remaining items into the cardboard box. last 20 steps: 1- move away from the table 2- touch the black holder 3- pick the black holder 4- drop the black holder in the box 5- pick the hint bottle 6- Drop the hint bottle in the box 7- Pick up the left bottle from the table 8- drop the bottle in the box 9- grasp the bottle Q: next 5 steps? \u003cPRED\u003eA: 1- Grab the bottle on the table 2- pick the bottle 3- Drop the bottle into the box 4- Pick up the paper glass 5- drop the paper cups in the box\n\u003c/PRED\u003e","video":"10679557282346742874.mp4"}
+{"uid":"7093208452921578008","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the orange marker into the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2532194178891512212.mp4"}
+{"uid":"10640807207130357404","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the sticky notes into the container box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3428551291358584264.mp4"}
+{"uid":"7070116576795634432","text":"\u003ctask:success:discrete:True\u003e\nPick up the bottle from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Pick up the bottle from the table\n\u003c/PRED\u003e","video":"16304777166050781356.mp4"}
+{"uid":"13309371938402502950","text":"\u003ctask:success:discrete:True\u003e\nRelease the bottle in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Release the bottle in the box\n\u003c/PRED\u003e","video":"1930780766906625159.mp4"}
+{"uid":"10777397041456834367","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pistachio in the coffee cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13962684589120062427.mp4"}
+{"uid":"10328695265745657739","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the orange packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11252724326045470980.mp4"}
+{"uid":"12749281282302088613","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput red pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7969431147119716435.mp4"}
+{"uid":"8981079384220338194","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove the chair outside Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17880093237281310608.mp4"}
+{"uid":"5169406873341271311","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack the glasses in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13357958179993925082.mp4"}
+{"uid":"11565654295801609617","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put remaining items into the cardboard box Q: immediate next step? \u003cPRED\u003eA: Knock the hint bottle on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put remaining items into the cardboard box. last 20 steps: 1- move away from the table Q: immediate next step? \u003cPRED\u003eA: Knock the hint bottle on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nKnock the hint bottle on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put remaining items into the cardboard box. last 20 steps: 1- move away from the table Q: next 5 steps? \u003cPRED\u003eA: 1- Knock the hint bottle on the table 2- drop the black holder in the box 3- pick the hint bottle 4- Drop the hint bottle in the box 5- Pick up the left bottle from the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Knock the hint bottle on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nKnock the hint bottle on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Knock the hint bottle on the table\n\u003c/PRED\u003e","video":"6901651511172891634.mp4"}
+{"uid":"12389077431977136527","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Grasp the black holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put remaining items into the cardboard box. last 20 steps: 1- move away from the table Q: immediate next step? \u003cPRED\u003eA: Grasp the black holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put remaining items into the cardboard box Q: immediate next step? \u003cPRED\u003eA: Grasp the black holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put remaining items into the cardboard box. last 20 steps: 1- move away from the table Q: next 5 steps? \u003cPRED\u003eA: 1- Grasp the black holder 2- drop the black holder in the box 3- pick the hint bottle 4- Drop the hint bottle in the box 5- Pick up the left bottle from the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nGrasp the black holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Grasp the black holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nGrasp the black holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14717205819592811777.mp4"}
+{"uid":"3327580768259560902","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop the black holder in the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put remaining items into the cardboard box. last 20 steps: 1- move away from the table 2- touch the black holder 3- pick the black holder Q: immediate next step? \u003cPRED\u003eA: Drop the black holder in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop the black holder in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put remaining items into the cardboard box. last 20 steps: 1- move away from the table 2- touch the black holder 3- pick the black holder Q: next 5 steps? \u003cPRED\u003eA: 1- Drop the black holder in the box 2- Drop the hint bottle in the box 3- Pick up the left bottle from the table 4- drop the bottle in the box 5- grasp the bottle\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop the black holder in the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put remaining items into the cardboard box Q: immediate next step? \u003cPRED\u003eA: Drop the black holder in the box\n\u003c/PRED\u003e","video":"14585705419922848150.mp4"}
+{"uid":"12072921275971307751","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nrelease the bottle Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put remaining items into the cardboard box. last 20 steps: 1- move away from the table 2- touch the black holder 3- pick the black holder 4- drop the black holder in the box 5- pick the hint bottle 6- Drop the hint bottle in the box 7- Pick up the left bottle from the table 8- drop the bottle in the box Q: immediate next step? \u003cPRED\u003eA: release the bottle\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put remaining items into the cardboard box Q: immediate next step? \u003cPRED\u003eA: release the bottle\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put remaining items into the cardboard box. last 20 steps: 1- move away from the table 2- touch the black holder 3- pick the black holder 4- drop the black holder in the box 5- pick the hint bottle 6- Drop the hint bottle in the box 7- Pick up the left bottle from the table 8- drop the bottle in the box Q: next 5 steps? \u003cPRED\u003eA: 1- release the bottle 2- hold the bottle 3- pick the bottle 4- Drop the bottle into the box 5- Pick up the paper glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: release the bottle\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nrelease the bottle Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: release the bottle\n\u003c/PRED\u003e","video":"10333365933848232307.mp4"}
+{"uid":"14259122359153151719","text":"\u003ctask:success:discrete:False\u003e\ngrasp the bottle Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ngrasp the bottle Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put remaining items into the cardboard box Q: immediate next step? \u003cPRED\u003eA: grasp the bottle\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put remaining items into the cardboard box. last 20 steps: 1- move away from the table 2- touch the black holder 3- pick the black holder 4- drop the black holder in the box 5- pick the hint bottle 6- Drop the hint bottle in the box 7- Pick up the left bottle from the table 8- drop the bottle in the box Q: immediate next step? \u003cPRED\u003eA: grasp the bottle\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: grasp the bottle\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put remaining items into the cardboard box. last 20 steps: 1- move away from the table 2- touch the black holder 3- pick the black holder 4- drop the black holder in the box 5- pick the hint bottle 6- Drop the hint bottle in the box 7- Pick up the left bottle from the table 8- drop the bottle in the box Q: next 5 steps? \u003cPRED\u003eA: 1- grasp the bottle 2- hold the bottle 3- pick the bottle 4- Drop the bottle into the box 5- Pick up the paper glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: grasp the bottle\n\u003c/PRED\u003e","video":"4676043497972160551.mp4"}
+{"uid":"14345280248257133246","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace chip bag in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11270706722983674529.mp4"}
+{"uid":"7390336442662735209","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the pile of paper cups from the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put remaining items into the cardboard box. last 20 steps: 1- move away from the table 2- touch the black holder 3- pick the black holder 4- drop the black holder in the box 5- pick the hint bottle 6- Drop the hint bottle in the box 7- Pick up the left bottle from the table 8- drop the bottle in the box 9- grasp the bottle 10- release the bottle 11- hold the bottle 12- pick the bottle 13- Drop the bottle into the box Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the pile of paper cups from the table 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put remaining items into the cardboard box. last 20 steps: 1- move away from the table 2- touch the black holder 3- pick the black holder 4- drop the black holder in the box 5- pick the hint bottle 6- Drop the hint bottle in the box 7- Pick up the left bottle from the table 8- drop the bottle in the box 9- grasp the bottle 10- release the bottle 11- hold the bottle 12- pick the bottle 13- Drop the bottle into the box Q: immediate next step? \u003cPRED\u003eA: Pick up the pile of paper cups from the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the pile of paper cups from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the pile of paper cups from the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put remaining items into the cardboard box Q: immediate next step? \u003cPRED\u003eA: Pick up the pile of paper cups from the table\n\u003c/PRED\u003e","video":"10658331902496898853.mp4"}
+{"uid":"17481958082395222662","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the white pebble in the left transparent glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8531054917458735689.mp4"}
+{"uid":"14941322532158564664","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Move to the water bottle on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nMove to the water bottle on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7756508925814297039.mp4"}
+{"uid":"4100919441405293166","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: grasp the bottle\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ngrasp the bottle Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6336813895781557424.mp4"}
+{"uid":"12070721804753509292","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put remaining items into the cardboard box. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- move away from the table 2- touch the black holder 3- pick the black holder 4- drop the black holder in the box 5- pick the hint bottle\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove away from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move away from the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move away from the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put remaining items into the cardboard box Q: immediate next step? \u003cPRED\u003eA: move away from the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put remaining items into the cardboard box. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: move away from the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove away from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17567758624377831582.mp4"}
+{"uid":"13656205861592640531","text":"\u003ctask:success:discrete:False\u003e\nGrasp the bottle on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put remaining items into the cardboard box. last 20 steps: 1- move away from the table 2- touch the black holder 3- pick the black holder 4- drop the black holder in the box 5- pick the hint bottle 6- Drop the hint bottle in the box 7- Pick up the left bottle from the table 8- drop the bottle in the box Q: immediate next step? \u003cPRED\u003eA: Grasp the bottle on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nGrasp the bottle on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Grasp the bottle on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put remaining items into the cardboard box. last 20 steps: 1- move away from the table 2- touch the black holder 3- pick the black holder 4- drop the black holder in the box 5- pick the hint bottle 6- Drop the hint bottle in the box 7- Pick up the left bottle from the table 8- drop the bottle in the box Q: next 5 steps? \u003cPRED\u003eA: 1- Grasp the bottle on the table 2- pick the bottle 3- Drop the bottle into the box 4- Pick up the paper glass 5- drop the paper cups in the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put remaining items into the cardboard box Q: immediate next step? \u003cPRED\u003eA: Grasp the bottle on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Grasp the bottle on the table\n\u003c/PRED\u003e","video":"2281327521027851825.mp4"}
+{"uid":"5096249854874940024","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the packet on the table from the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18053453379076272260.mp4"}
+{"uid":"13041427716486031996","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the glass stack upright Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15158688095256982659.mp4"}
+{"uid":"1749391214781967334","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put remaining items into the cardboard box Q: immediate next step? \u003cPRED\u003eA: Drop the bottle in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop the bottle in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put remaining items into the cardboard box. last 20 steps: 1- move away from the table 2- touch the black holder 3- pick the black holder 4- drop the black holder in the box 5- pick the hint bottle 6- Drop the hint bottle in the box Q: immediate next step? \u003cPRED\u003eA: Drop the bottle in the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put remaining items into the cardboard box. last 20 steps: 1- move away from the table 2- touch the black holder 3- pick the black holder 4- drop the black holder in the box 5- pick the hint bottle 6- Drop the hint bottle in the box Q: next 5 steps? \u003cPRED\u003eA: 1- Drop the bottle in the box 2- release the bottle 3- hold the bottle 4- pick the bottle 5- Drop the bottle into the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrop the bottle in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop the bottle in the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop the bottle in the box\n\u003c/PRED\u003e","video":"17390257539052120382.mp4"}
+{"uid":"2861862137477017688","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop the hint bottle in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop the hint bottle in the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put remaining items into the cardboard box. last 20 steps: 1- move away from the table 2- touch the black holder 3- pick the black holder 4- drop the black holder in the box 5- pick the hint bottle Q: immediate next step? \u003cPRED\u003eA: Drop the hint bottle in the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put remaining items into the cardboard box Q: immediate next step? \u003cPRED\u003eA: Drop the hint bottle in the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put remaining items into the cardboard box. last 20 steps: 1- move away from the table 2- touch the black holder 3- pick the black holder 4- drop the black holder in the box 5- pick the hint bottle Q: next 5 steps? \u003cPRED\u003eA: 1- Drop the hint bottle in the box 2- drop the bottle in the box 3- grasp the bottle 4- release the bottle 5- hold the bottle\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop the hint bottle in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrop the hint bottle in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16280278374842207937.mp4"}
+{"uid":"6691792686137094933","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put remaining items into the cardboard box. last 20 steps: 1- move away from the table 2- touch the black holder 3- pick the black holder 4- drop the black holder in the box 5- pick the hint bottle 6- Drop the hint bottle in the box 7- Pick up the left bottle from the table 8- drop the bottle in the box 9- grasp the bottle 10- release the bottle 11- hold the bottle 12- pick the bottle 13- Drop the bottle into the box Q: immediate next step? \u003cPRED\u003eA: drop the paper cups in the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put remaining items into the cardboard box. last 20 steps: 1- move away from the table 2- touch the black holder 3- pick the black holder 4- drop the black holder in the box 5- pick the hint bottle 6- Drop the hint bottle in the box 7- Pick up the left bottle from the table 8- drop the bottle in the box 9- grasp the bottle 10- release the bottle 11- hold the bottle 12- pick the bottle 13- Drop the bottle into the box Q: next 5 steps? \u003cPRED\u003eA: 1- drop the paper cups in the box 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the paper cups in the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put remaining items into the cardboard box Q: immediate next step? \u003cPRED\u003eA: drop the paper cups in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the paper cups in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the paper cups in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the paper cups in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:False\u003e\nput pen on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14350340535128521858.mp4"}
+{"uid":"11622892486386026885","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the paper cups\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the paper cups Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put remaining items into the cardboard box. last 20 steps: 1- move away from the table 2- touch the black holder 3- pick the black holder 4- drop the black holder in the box 5- pick the hint bottle 6- Drop the hint bottle in the box 7- Pick up the left bottle from the table 8- drop the bottle in the box 9- grasp the bottle 10- release the bottle 11- hold the bottle 12- pick the bottle 13- Drop the bottle into the box Q: immediate next step? \u003cPRED\u003eA: pick the paper cups\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put remaining items into the cardboard box. last 20 steps: 1- move away from the table 2- touch the black holder 3- pick the black holder 4- drop the black holder in the box 5- pick the hint bottle 6- Drop the hint bottle in the box 7- Pick up the left bottle from the table 8- drop the bottle in the box 9- grasp the bottle 10- release the bottle 11- hold the bottle 12- pick the bottle 13- Drop the bottle into the box Q: next 5 steps? \u003cPRED\u003eA: 1- pick the paper cups 2- drop the paper cups in the box 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put remaining items into the cardboard box Q: immediate next step? \u003cPRED\u003eA: pick the paper cups\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the paper cups Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the paper cups\n\u003c/PRED\u003e","video":"14311028062055162229.mp4"}
+{"uid":"6211759062098593236","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop the hint bottle into the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop the hint bottle into the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put remaining items into the cardboard box. last 20 steps: 1- move away from the table 2- touch the black holder 3- pick the black holder 4- drop the black holder in the box 5- pick the hint bottle Q: next 5 steps? \u003cPRED\u003eA: 1- Drop the hint bottle into the box 2- drop the bottle in the box 3- grasp the bottle 4- release the bottle 5- hold the bottle\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put remaining items into the cardboard box Q: immediate next step? \u003cPRED\u003eA: Drop the hint bottle into the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop the hint bottle into the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put remaining items into the cardboard box. last 20 steps: 1- move away from the table 2- touch the black holder 3- pick the black holder 4- drop the black holder in the box 5- pick the hint bottle Q: immediate next step? \u003cPRED\u003eA: Drop the hint bottle into the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrop the hint bottle into the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9891774718288067741.mp4"}
+{"uid":"8655787403577291218","text":"\u003ctask:success:discrete:True\u003e\npick the black holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick the black holder\n\u003c/PRED\u003e","video":"5863094951640033582.mp4"}
+{"uid":"16063859253740218825","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the pen on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11403419214995899411.mp4"}
+{"uid":"9032796580649611543","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put remaining items into the cardboard box Q: immediate next step? \u003cPRED\u003eA: Drop the black holder in the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put remaining items into the cardboard box. last 20 steps: 1- move away from the table 2- touch the black holder Q: next 5 steps? \u003cPRED\u003eA: 1- Drop the black holder in the box 2- Drop the hint bottle in the box 3- Pick up the left bottle from the table 4- drop the bottle in the box 5- grasp the bottle\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put remaining items into the cardboard box. last 20 steps: 1- move away from the table 2- touch the black holder Q: immediate next step? \u003cPRED\u003eA: Drop the black holder in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrop the black holder in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop the black holder in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop the black holder in the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop the black holder in the box\n\u003c/PRED\u003e","video":"6763744094281577784.mp4"}
+{"uid":"378792729015663711","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nopen the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15396824369171736986.mp4"}
+{"uid":"3935273684844755101","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the black holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put remaining items into the cardboard box Q: immediate next step? \u003cPRED\u003eA: pick the black holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the black holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put remaining items into the cardboard box. last 20 steps: 1- move away from the table 2- touch the black holder Q: next 5 steps? \u003cPRED\u003eA: 1- pick the black holder 2- drop the black holder in the box 3- pick the hint bottle 4- Drop the hint bottle in the box 5- Pick up the left bottle from the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the black holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put remaining items into the cardboard box. last 20 steps: 1- move away from the table 2- touch the black holder Q: immediate next step? \u003cPRED\u003eA: pick the black holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the black holder\n\u003c/PRED\u003e","video":"8605320603319432709.mp4"}
+{"uid":"15098726733950817182","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18348476509128001997.mp4"}
+{"uid":"10226822050263641465","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Knock the hint bottle on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nKnock the hint bottle on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10083926244056655813.mp4"}
+{"uid":"13603290278593278824","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the black packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17515583383051946654.mp4"}
+{"uid":"11310418837778341554","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put remaining items into the cardboard box Q: immediate next step? \u003cPRED\u003eA: pick the bottle\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the bottle Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the bottle\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the bottle\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the bottle Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put remaining items into the cardboard box. last 20 steps: 1- move away from the table 2- touch the black holder 3- pick the black holder 4- drop the black holder in the box 5- pick the hint bottle 6- Drop the hint bottle in the box 7- Pick up the left bottle from the table 8- drop the bottle in the box 9- grasp the bottle 10- release the bottle 11- hold the bottle Q: immediate next step? \u003cPRED\u003eA: pick the bottle\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put remaining items into the cardboard box. last 20 steps: 1- move away from the table 2- touch the black holder 3- pick the black holder 4- drop the black holder in the box 5- pick the hint bottle 6- Drop the hint bottle in the box 7- Pick up the left bottle from the table 8- drop the bottle in the box 9- grasp the bottle 10- release the bottle 11- hold the bottle Q: next 5 steps? \u003cPRED\u003eA: 1- pick the bottle 2- Drop the bottle into the box 3- Pick up the paper glass 4- drop the paper cups in the box 5- done\n\u003c/PRED\u003e","video":"16609950793041788232.mp4"}
+{"uid":"10068129007031381260","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the hint bottle\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put remaining items into the cardboard box. last 20 steps: 1- move away from the table 2- touch the black holder 3- pick the black holder 4- drop the black holder in the box Q: immediate next step? \u003cPRED\u003eA: Pick up the hint bottle\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put remaining items into the cardboard box. last 20 steps: 1- move away from the table 2- touch the black holder 3- pick the black holder 4- drop the black holder in the box Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the hint bottle 2- Pick up the left bottle from the table 3- drop the bottle in the box 4- grasp the bottle 5- release the bottle\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the hint bottle\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the hint bottle Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put remaining items into the cardboard box Q: immediate next step? \u003cPRED\u003eA: Pick up the hint bottle\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the hint bottle Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15953033349166722343.mp4"}
+{"uid":"16495390946507551733","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: hold the bottle\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put remaining items into the cardboard box. last 20 steps: 1- move away from the table 2- touch the black holder 3- pick the black holder 4- drop the black holder in the box 5- pick the hint bottle 6- Drop the hint bottle in the box 7- Pick up the left bottle from the table 8- drop the bottle in the box 9- grasp the bottle 10- release the bottle Q: immediate next step? \u003cPRED\u003eA: hold the bottle\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: hold the bottle\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nhold the bottle Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put remaining items into the cardboard box. last 20 steps: 1- move away from the table 2- touch the black holder 3- pick the black holder 4- drop the black holder in the box 5- pick the hint bottle 6- Drop the hint bottle in the box 7- Pick up the left bottle from the table 8- drop the bottle in the box 9- grasp the bottle 10- release the bottle Q: next 5 steps? \u003cPRED\u003eA: 1- hold the bottle 2- pick the bottle 3- Drop the bottle into the box 4- Pick up the paper glass 5- drop the paper cups in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nhold the bottle Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put remaining items into the cardboard box Q: immediate next step? \u003cPRED\u003eA: hold the bottle\n\u003c/PRED\u003e","video":"10799296885100909933.mp4"}
+{"uid":"4794204891321679437","text":"\u003ctask:success:discrete:True\u003e\nGrab the bottle on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Grab the bottle on the table\n\u003c/PRED\u003e","video":"6612313751488293309.mp4"}
+{"uid":"14756281346734125712","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Pick up the left bottle on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPick up the left bottle on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15051503064224314397.mp4"}
+{"uid":"8459953113374422033","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop the pile of paper cups in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop the pile of paper cups in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put remaining items into the cardboard box Q: immediate next step? \u003cPRED\u003eA: Drop the pile of paper cups in the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put remaining items into the cardboard box. last 20 steps: 1- move away from the table 2- touch the black holder 3- pick the black holder 4- drop the black holder in the box 5- pick the hint bottle 6- Drop the hint bottle in the box 7- Pick up the left bottle from the table 8- drop the bottle in the box 9- grasp the bottle 10- release the bottle 11- hold the bottle 12- pick the bottle 13- Drop the bottle into the box Q: immediate next step? \u003cPRED\u003eA: Drop the pile of paper cups in the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop the pile of paper cups in the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put remaining items into the cardboard box. last 20 steps: 1- move away from the table 2- touch the black holder 3- pick the black holder 4- drop the black holder in the box 5- pick the hint bottle 6- Drop the hint bottle in the box 7- Pick up the left bottle from the table 8- drop the bottle in the box 9- grasp the bottle 10- release the bottle 11- hold the bottle 12- pick the bottle 13- Drop the bottle into the box Q: next 5 steps? \u003cPRED\u003eA: 1- Drop the pile of paper cups in the box 2- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrop the pile of paper cups in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7481872629404927725.mp4"}
+{"uid":"7290098959946854928","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put remaining items into the cardboard box Q: immediate next step? \u003cPRED\u003eA: Pick up the bottle\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the bottle\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the bottle Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the bottle Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put remaining items into the cardboard box. last 20 steps: 1- move away from the table 2- touch the black holder 3- pick the black holder 4- drop the black holder in the box 5- pick the hint bottle 6- Drop the hint bottle in the box 7- Pick up the left bottle from the table 8- drop the bottle in the box 9- grasp the bottle 10- release the bottle Q: immediate next step? \u003cPRED\u003eA: Pick up the bottle\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the bottle\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put remaining items into the cardboard box. last 20 steps: 1- move away from the table 2- touch the black holder 3- pick the black holder 4- drop the black holder in the box 5- pick the hint bottle 6- Drop the hint bottle in the box 7- Pick up the left bottle from the table 8- drop the bottle in the box 9- grasp the bottle 10- release the bottle Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the bottle 2- Pick up the paper glass 3- drop the paper cups in the box 4- done\n\u003c/PRED\u003e","video":"13469628088197380376.mp4"}
+{"uid":"6844846696284476582","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8256999889459773076.mp4"}
+{"uid":"16742682016143696028","text":"\u003ctask:success:discrete:False\u003e\nPick up the bottle from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put remaining items into the cardboard box Q: immediate next step? \u003cPRED\u003eA: Pick up the bottle from the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the bottle from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the bottle from the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the bottle from the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put remaining items into the cardboard box. last 20 steps: 1- move away from the table 2- touch the black holder 3- pick the black holder 4- drop the black holder in the box 5- pick the hint bottle 6- Drop the hint bottle in the box 7- Pick up the left bottle from the table 8- drop the bottle in the box 9- grasp the bottle 10- release the bottle Q: immediate next step? \u003cPRED\u003eA: Pick up the bottle from the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put remaining items into the cardboard box. last 20 steps: 1- move away from the table 2- touch the black holder 3- pick the black holder 4- drop the black holder in the box 5- pick the hint bottle 6- Drop the hint bottle in the box 7- Pick up the left bottle from the table 8- drop the bottle in the box 9- grasp the bottle 10- release the bottle Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the bottle from the table 2- Pick up the paper glass 3- drop the paper cups in the box 4- done\n\u003c/PRED\u003e","video":"5971100473471180258.mp4"}
+{"uid":"14518727382955457986","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: release the bottle\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nrelease the bottle Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18413883395736097813.mp4"}
+{"uid":"5085541704741549447","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the paper chit in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16484245364336860389.mp4"}
+{"uid":"10043475442791169655","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput cup upright Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14757930994234520520.mp4"}
+{"uid":"8276651911455706781","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput orange packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7859474436183386342.mp4"}
+{"uid":"76679043914507612","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14549638530832747728.mp4"}
+{"uid":"7985100499552836179","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the blue packet in a bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10673098530197200476.mp4"}
+{"uid":"7077539977334502448","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput a pistachio in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14074870597977518985.mp4"}
+{"uid":"4258570027917497080","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the blue pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11701029817299982022.mp4"}
+{"uid":"7448697116139810460","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put remaining items into the cardboard box. last 20 steps: 1- move away from the table 2- touch the black holder 3- pick the black holder 4- drop the black holder in the box 5- pick the hint bottle Q: immediate next step? \u003cPRED\u003eA: drop the hint bottle in the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put remaining items into the cardboard box Q: immediate next step? \u003cPRED\u003eA: drop the hint bottle in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the hint bottle in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the hint bottle in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the hint bottle in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put remaining items into the cardboard box. last 20 steps: 1- move away from the table 2- touch the black holder 3- pick the black holder 4- drop the black holder in the box 5- pick the hint bottle Q: next 5 steps? \u003cPRED\u003eA: 1- drop the hint bottle in the box 2- drop the bottle in the box 3- grasp the bottle 4- release the bottle 5- hold the bottle\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the hint bottle in the box\n\u003c/PRED\u003e","video":"2552589038188525262.mp4"}
+{"uid":"16734835357487005766","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the apple in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1044304447726113688.mp4"}
+{"uid":"9126376013764690737","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put remaining items into the cardboard box. last 20 steps: 1- move away from the table 2- touch the black holder Q: immediate next step? \u003cPRED\u003eA: Pick up the black holder from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the black holder from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the black holder from the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put remaining items into the cardboard box. last 20 steps: 1- move away from the table 2- touch the black holder Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the black holder from the table 2- pick the hint bottle 3- Drop the hint bottle in the box 4- Pick up the left bottle from the table 5- drop the bottle in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the black holder from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the black holder from the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put remaining items into the cardboard box Q: immediate next step? \u003cPRED\u003eA: Pick up the black holder from the table\n\u003c/PRED\u003e","video":"6876013268483847892.mp4"}
+{"uid":"14351661304072802670","text":"\u003ctask:success:discrete:True\u003e\nDrop the bottle in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Drop the bottle in the box\n\u003c/PRED\u003e","video":"13364884580386187855.mp4"}
+{"uid":"2034989558255660604","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put remaining items into the cardboard box Q: immediate next step? \u003cPRED\u003eA: pick the left bottle\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the left bottle Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the left bottle Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put remaining items into the cardboard box. last 20 steps: 1- move away from the table 2- touch the black holder 3- pick the black holder 4- drop the black holder in the box 5- pick the hint bottle 6- Drop the hint bottle in the box Q: immediate next step? \u003cPRED\u003eA: pick the left bottle\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the left bottle\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put remaining items into the cardboard box. last 20 steps: 1- move away from the table 2- touch the black holder 3- pick the black holder 4- drop the black holder in the box 5- pick the hint bottle 6- Drop the hint bottle in the box Q: next 5 steps? \u003cPRED\u003eA: 1- pick the left bottle 2- drop the bottle in the box 3- grasp the bottle 4- release the bottle 5- hold the bottle\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the left bottle\n\u003c/PRED\u003e","video":"13052903259447423925.mp4"}
+{"uid":"7112761597325659245","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop the bottle in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop the bottle in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrop the bottle in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put remaining items into the cardboard box. last 20 steps: 1- move away from the table 2- touch the black holder 3- pick the black holder 4- drop the black holder in the box 5- pick the hint bottle 6- Drop the hint bottle in the box 7- Pick up the left bottle from the table 8- drop the bottle in the box 9- grasp the bottle 10- release the bottle 11- hold the bottle 12- pick the bottle Q: immediate next step? \u003cPRED\u003eA: Drop the bottle in the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put remaining items into the cardboard box Q: immediate next step? \u003cPRED\u003eA: Drop the bottle in the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop the bottle in the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put remaining items into the cardboard box. last 20 steps: 1- move away from the table 2- touch the black holder 3- pick the black holder 4- drop the black holder in the box 5- pick the hint bottle 6- Drop the hint bottle in the box 7- Pick up the left bottle from the table 8- drop the bottle in the box 9- grasp the bottle 10- release the bottle 11- hold the bottle 12- pick the bottle Q: next 5 steps? \u003cPRED\u003eA: 1- Drop the bottle in the box 2- drop the paper cups in the box 3- done\n\u003c/PRED\u003e","video":"5711943205065229505.mp4"}
+{"uid":"10582033953867133693","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the hint bottle from the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put remaining items into the cardboard box. last 20 steps: 1- move away from the table 2- touch the black holder 3- pick the black holder 4- drop the black holder in the box Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the hint bottle from the table 2- Pick up the left bottle from the table 3- drop the bottle in the box 4- grasp the bottle 5- release the bottle\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put remaining items into the cardboard box. last 20 steps: 1- move away from the table 2- touch the black holder 3- pick the black holder 4- drop the black holder in the box Q: immediate next step? \u003cPRED\u003eA: Pick up the hint bottle from the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put remaining items into the cardboard box Q: immediate next step? \u003cPRED\u003eA: Pick up the hint bottle from the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the hint bottle from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the hint bottle from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the hint bottle from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12963083033788434473.mp4"}
+{"uid":"13337771310263601658","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the papers in the organiser Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3677405451431644249.mp4"}
+{"uid":"17931121340289431857","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put remaining items into the cardboard box. last 20 steps: 1- move away from the table 2- touch the black holder 3- pick the black holder Q: immediate next step? \u003cPRED\u003eA: drop the black holder in the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the black holder in the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put remaining items into the cardboard box. last 20 steps: 1- move away from the table 2- touch the black holder 3- pick the black holder Q: next 5 steps? \u003cPRED\u003eA: 1- drop the black holder in the box 2- pick the hint bottle 3- Drop the hint bottle in the box 4- Pick up the left bottle from the table 5- drop the bottle in the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put remaining items into the cardboard box Q: immediate next step? \u003cPRED\u003eA: drop the black holder in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the black holder in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the black holder in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the black holder in the box\n\u003c/PRED\u003e","video":"14938312755422474220.mp4"}
+{"uid":"9712554172253492098","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop pistachio in a cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3354940879403469001.mp4"}
+{"uid":"18407147591490947944","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10420868628492263987.mp4"}
+{"uid":"15101770029899839871","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Grasp the black holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nGrasp the black holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4949018426163650000.mp4"}
+{"uid":"6582408686493092471","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the pile of paper cups from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the pile of paper cups from the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put remaining items into the cardboard box. last 20 steps: 1- move away from the table 2- touch the black holder 3- pick the black holder 4- drop the black holder in the box 5- pick the hint bottle 6- Drop the hint bottle in the box 7- Pick up the left bottle from the table 8- drop the bottle in the box 9- grasp the bottle 10- release the bottle 11- hold the bottle 12- pick the bottle 13- Drop the bottle into the box Q: immediate next step? \u003cPRED\u003eA: Pick up the pile of paper cups from the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put remaining items into the cardboard box Q: immediate next step? \u003cPRED\u003eA: Pick up the pile of paper cups from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the pile of paper cups from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put remaining items into the cardboard box. last 20 steps: 1- move away from the table 2- touch the black holder 3- pick the black holder 4- drop the black holder in the box 5- pick the hint bottle 6- Drop the hint bottle in the box 7- Pick up the left bottle from the table 8- drop the bottle in the box 9- grasp the bottle 10- release the bottle 11- hold the bottle 12- pick the bottle 13- Drop the bottle into the box Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the pile of paper cups from the table 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the pile of paper cups from the table\n\u003c/PRED\u003e","video":"1368811069007829623.mp4"}
+{"uid":"989966700810694278","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Release the bottle in the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put remaining items into the cardboard box Q: immediate next step? \u003cPRED\u003eA: Release the bottle in the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Release the bottle in the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put remaining items into the cardboard box. last 20 steps: 1- move away from the table 2- touch the black holder 3- pick the black holder 4- drop the black holder in the box 5- pick the hint bottle 6- Drop the hint bottle in the box 7- Pick up the left bottle from the table Q: immediate next step? \u003cPRED\u003eA: Release the bottle in the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put remaining items into the cardboard box. last 20 steps: 1- move away from the table 2- touch the black holder 3- pick the black holder 4- drop the black holder in the box 5- pick the hint bottle 6- Drop the hint bottle in the box 7- Pick up the left bottle from the table Q: next 5 steps? \u003cPRED\u003eA: 1- Release the bottle in the box 2- release the bottle 3- hold the bottle 4- pick the bottle 5- Drop the bottle into the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nRelease the bottle in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nRelease the bottle in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13522866088662530732.mp4"}
+{"uid":"7631214175655463490","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put remaining items into the cardboard box. last 20 steps: 1- move away from the table 2- touch the black holder 3- pick the black holder 4- drop the black holder in the box 5- pick the hint bottle 6- Drop the hint bottle in the box 7- Pick up the left bottle from the table 8- drop the bottle in the box 9- grasp the bottle 10- release the bottle 11- hold the bottle 12- pick the bottle Q: immediate next step? \u003cPRED\u003eA: Drop the bottle into the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrop the bottle into the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put remaining items into the cardboard box Q: immediate next step? \u003cPRED\u003eA: Drop the bottle into the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop the bottle into the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop the bottle into the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put remaining items into the cardboard box. last 20 steps: 1- move away from the table 2- touch the black holder 3- pick the black holder 4- drop the black holder in the box 5- pick the hint bottle 6- Drop the hint bottle in the box 7- Pick up the left bottle from the table 8- drop the bottle in the box 9- grasp the bottle 10- release the bottle 11- hold the bottle 12- pick the bottle Q: next 5 steps? \u003cPRED\u003eA: 1- Drop the bottle into the box 2- drop the paper cups in the box 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop the bottle into the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14514200347934490933.mp4"}
+{"uid":"8044958776192467972","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nRelease the wet wipes packet in the trolley Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16892130270031569641.mp4"}
+{"uid":"8222923905478228191","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Grasp the bottle on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nGrasp the bottle on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2994442720130193505.mp4"}
+{"uid":"9056888137109805362","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14786673528014698475.mp4"}
+{"uid":"389880726172842965","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put remaining items into the cardboard box. last 20 steps: 1- move away from the table 2- touch the black holder 3- pick the black holder 4- drop the black holder in the box 5- pick the hint bottle 6- Drop the hint bottle in the box Q: immediate next step? \u003cPRED\u003eA: Pick up the left bottle on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put remaining items into the cardboard box. last 20 steps: 1- move away from the table 2- touch the black holder 3- pick the black holder 4- drop the black holder in the box 5- pick the hint bottle 6- Drop the hint bottle in the box Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the left bottle on the table 2- grasp the bottle 3- release the bottle 4- hold the bottle 5- pick the bottle\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the left bottle on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put remaining items into the cardboard box Q: immediate next step? \u003cPRED\u003eA: Pick up the left bottle on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the left bottle on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up the brown paper cup from the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the left bottle on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the left bottle on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18005312235898346552.mp4"}
+{"uid":"13990611478522876859","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the yellow candy in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15320302088653303467.mp4"}
+{"uid":"8996454505002333149","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put remaining items into the cardboard box Q: immediate next step? \u003cPRED\u003eA: drop the bottle in the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the bottle in the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the bottle in the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put remaining items into the cardboard box. last 20 steps: 1- move away from the table 2- touch the black holder 3- pick the black holder 4- drop the black holder in the box 5- pick the hint bottle 6- Drop the hint bottle in the box 7- Pick up the left bottle from the table 8- drop the bottle in the box 9- grasp the bottle 10- release the bottle 11- hold the bottle 12- pick the bottle Q: next 5 steps? \u003cPRED\u003eA: 1- drop the bottle in the box 2- Pick up the paper glass 3- drop the paper cups in the box 4- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the bottle in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put remaining items into the cardboard box. last 20 steps: 1- move away from the table 2- touch the black holder 3- pick the black holder 4- drop the black holder in the box 5- pick the hint bottle 6- Drop the hint bottle in the box 7- Pick up the left bottle from the table 8- drop the bottle in the box 9- grasp the bottle 10- release the bottle 11- hold the bottle 12- pick the bottle Q: immediate next step? \u003cPRED\u003eA: drop the bottle in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the bottle in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2706735777668693812.mp4"}
+{"uid":"8706154058366301305","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the orange in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11493418195769251073.mp4"}
+{"uid":"18341444756886633741","text":"\u003ctask:success:discrete:True\u003e\ntouch the black holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: touch the black holder\n\u003c/PRED\u003e","video":"18254171384079722279.mp4"}
+{"uid":"11752953547497973432","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put remaining items into the cardboard box. last 20 steps: 1- move away from the table 2- touch the black holder 3- pick the black holder 4- drop the black holder in the box Q: next 5 steps? \u003cPRED\u003eA: 1- pick the hint bottle 2- Drop the hint bottle in the box 3- Pick up the left bottle from the table 4- drop the bottle in the box 5- grasp the bottle\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the hint bottle\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put remaining items into the cardboard box Q: immediate next step? \u003cPRED\u003eA: pick the hint bottle\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put remaining items into the cardboard box. last 20 steps: 1- move away from the table 2- touch the black holder 3- pick the black holder 4- drop the black holder in the box Q: immediate next step? \u003cPRED\u003eA: pick the hint bottle\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the hint bottle\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the hint bottle Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the hint bottle Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6434770635619847326.mp4"}
+{"uid":"11534890963736441297","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nclose the cupboard Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7201312088526652564.mp4"}
+{"uid":"10175279219042527045","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput cookie on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2398282154240580008.mp4"}
+{"uid":"12558403829410268141","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the paper glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put remaining items into the cardboard box Q: immediate next step? \u003cPRED\u003eA: Pick up the paper glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put remaining items into the cardboard box. last 20 steps: 1- move away from the table 2- touch the black holder 3- pick the black holder 4- drop the black holder in the box 5- pick the hint bottle 6- Drop the hint bottle in the box 7- Pick up the left bottle from the table 8- drop the bottle in the box 9- grasp the bottle 10- release the bottle 11- hold the bottle 12- pick the bottle Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the paper glass 2- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the paper glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the paper glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the paper glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put remaining items into the cardboard box. last 20 steps: 1- move away from the table 2- touch the black holder 3- pick the black holder 4- drop the black holder in the box 5- pick the hint bottle 6- Drop the hint bottle in the box 7- Pick up the left bottle from the table 8- drop the bottle in the box 9- grasp the bottle 10- release the bottle 11- hold the bottle 12- pick the bottle Q: immediate next step? \u003cPRED\u003eA: Pick up the paper glass\n\u003c/PRED\u003e","video":"15513234938553761142.mp4"}
+{"uid":"18313214310274164416","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move to the water bottle on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove to the water bottle on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put remaining items into the cardboard box Q: immediate next step? \u003cPRED\u003eA: Move to the water bottle on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove to the water bottle on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move to the water bottle on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put remaining items into the cardboard box. last 20 steps: 1- move away from the table 2- touch the black holder 3- pick the black holder 4- drop the black holder in the box 5- pick the hint bottle 6- Drop the hint bottle in the box 7- Pick up the left bottle from the table 8- drop the bottle in the box Q: immediate next step? \u003cPRED\u003eA: Move to the water bottle on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put remaining items into the cardboard box. last 20 steps: 1- move away from the table 2- touch the black holder 3- pick the black holder 4- drop the black holder in the box 5- pick the hint bottle 6- Drop the hint bottle in the box 7- Pick up the left bottle from the table 8- drop the bottle in the box Q: next 5 steps? \u003cPRED\u003eA: 1- Move to the water bottle on the table 2- hold the bottle 3- pick the bottle 4- Drop the bottle into the box 5- Pick up the paper glass\n\u003c/PRED\u003e","video":"14017430449778904882.mp4"}
+{"uid":"4734109585925216240","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the left bottle from the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put remaining items into the cardboard box Q: immediate next step? \u003cPRED\u003eA: Pick up the left bottle from the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the left bottle from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put remaining items into the cardboard box. last 20 steps: 1- move away from the table 2- touch the black holder 3- pick the black holder 4- drop the black holder in the box 5- pick the hint bottle Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the left bottle from the table 2- grasp the bottle 3- release the bottle 4- hold the bottle 5- pick the bottle\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the left bottle from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the left bottle from the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put remaining items into the cardboard box. last 20 steps: 1- move away from the table 2- touch the black holder 3- pick the black holder 4- drop the black holder in the box 5- pick the hint bottle Q: immediate next step? \u003cPRED\u003eA: Pick up the left bottle from the table\n\u003c/PRED\u003e","video":"4365497967970036204.mp4"}
+{"uid":"3885824507186169164","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put remaining items into the cardboard box. last 20 steps: 1- move away from the table 2- touch the black holder 3- pick the black holder 4- drop the black holder in the box 5- pick the hint bottle 6- Drop the hint bottle in the box Q: next 5 steps? \u003cPRED\u003eA: 1- drop the bottle in the box 2- grasp the bottle 3- release the bottle 4- hold the bottle 5- pick the bottle\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the bottle in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put remaining items into the cardboard box. last 20 steps: 1- move away from the table 2- touch the black holder 3- pick the black holder 4- drop the black holder in the box 5- pick the hint bottle 6- Drop the hint bottle in the box Q: immediate next step? \u003cPRED\u003eA: drop the bottle in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the bottle in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the bottle in the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put remaining items into the cardboard box Q: immediate next step? \u003cPRED\u003eA: drop the bottle in the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the bottle in the box\n\u003c/PRED\u003e","video":"2518824321305729605.mp4"}
+{"uid":"10776641413597595714","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: touch the black holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put remaining items into the cardboard box. last 20 steps: 1- move away from the table Q: next 5 steps? \u003cPRED\u003eA: 1- touch the black holder 2- pick the black holder 3- drop the black holder in the box 4- pick the hint bottle 5- Drop the hint bottle in the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: touch the black holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put remaining items into the cardboard box. last 20 steps: 1- move away from the table Q: immediate next step? \u003cPRED\u003eA: touch the black holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ntouch the black holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put remaining items into the cardboard box Q: immediate next step? \u003cPRED\u003eA: touch the black holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ntouch the black holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1103571261270828645.mp4"}
+{"uid":"12130477219348331512","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Pick up the bottle\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPick up the bottle Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13204913570479022407.mp4"}
+{"uid":"10125518823530492857","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put remaining items into the cardboard box. last 20 steps: 1- move away from the table 2- touch the black holder 3- pick the black holder 4- drop the black holder in the box 5- pick the hint bottle 6- Drop the hint bottle in the box 7- Pick up the left bottle from the table 8- drop the bottle in the box 9- grasp the bottle 10- release the bottle 11- hold the bottle 12- pick the bottle 13- Drop the bottle into the box 14- Drop the paper glass in the box Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Drop the paper glass in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nDrop the paper glass in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put remaining items into the cardboard box. last 20 steps: 1- move away from the table 2- touch the black holder 3- pick the black holder 4- drop the black holder in the box 5- pick the hint bottle 6- Drop the hint bottle in the box 7- Pick up the left bottle from the table 8- drop the bottle in the box 9- grasp the bottle 10- release the bottle 11- hold the bottle 12- pick the bottle 13- Drop the bottle into the box 14- Drop the paper glass in the box Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put remaining items into the cardboard box Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"3545783640055013046.mp4"}
+{"uid":"5305861678390590222","text":"\u003ctask:success:discrete:True\u003e\nput the blue wire inside Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the blue wire inside\n\u003c/PRED\u003e","video":"1641036794671440568.mp4"}
+{"uid":"18024350477496437734","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the white packets in the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7417267757658865571.mp4"}
+{"uid":"6118324663569983826","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put pear on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput pear on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put pear on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput pear on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take the fruits out of the bowl. last 20 steps: 1- put apple on the table 2- put pear on the table 3- put pear on the table 4- put apple on the table 5- put pear on the table 6- put apple on the table 7- put pear on the table 8- put apple on the table Q: immediate next step? \u003cPRED\u003eA: put pear on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take the fruits out of the bowl. last 20 steps: 1- put apple on the table 2- put pear on the table 3- put pear on the table 4- put apple on the table 5- put pear on the table 6- put apple on the table 7- put pear on the table 8- put apple on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put pear on the table 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Take the fruits out of the bowl Q: immediate next step? \u003cPRED\u003eA: put pear on the table\n\u003c/PRED\u003e","video":"13938789532822489958.mp4"}
+{"uid":"5217479144704349535","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the swedish fish bag in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14139117775521075343.mp4"}
+{"uid":"9204480953422206259","text":"\u003ctask:success:discrete:False\u003e\nput the blue wire inside Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the cables and mouse back into the conference table trough and close the lid. Q: immediate next step? \u003cPRED\u003eA: put the blue wire inside\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the blue wire inside Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the cables and mouse back into the conference table trough and close the lid. last 20 steps: 1- put wire under the table 2- put wire under the table 3- put wire under the table Q: immediate next step? \u003cPRED\u003eA: put the blue wire inside\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the blue wire inside\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the blue wire inside\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the cables and mouse back into the conference table trough and close the lid. last 20 steps: 1- put wire under the table 2- put wire under the table 3- put wire under the table Q: next 5 steps? \u003cPRED\u003eA: 1- put the blue wire inside 2- put the black wire inside 3- close cupboard slider 4- done\n\u003c/PRED\u003e","video":"11468661058254277793.mp4"}
+{"uid":"4072341176393977381","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the coke can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13515476070338499025.mp4"}
+{"uid":"5567753933555358438","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nupright the tin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15422113177087146750.mp4"}
+{"uid":"11803615502550511595","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the orange packet in the brown basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15765613464069884133.mp4"}
+{"uid":"16218282642189372351","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you get me a snack from Mk kitchen. last 20 steps: 1- open the drawer 2- place the packet on the table 3- close the drawer Q: immediate next step? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you get me a snack from Mk kitchen Q: immediate next step? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you get me a snack from Mk kitchen. last 20 steps: 1- open the drawer 2- place the packet on the table 3- close the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- place the packet on the table 2- done\n\u003c/PRED\u003e","video":"16611610225830908916.mp4"}
+{"uid":"7407147823228781311","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13199180383473215062.mp4"}
+{"uid":"6157171000090970317","text":"\u003ctask:success:discrete:True\u003e\nput mouse into the empty space Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put mouse into the empty space\n\u003c/PRED\u003e","video":"1624176654425065106.mp4"}
+{"uid":"10668280520807736895","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you get me a snack from Mk kitchen. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- open the drawer 2- place the packet on the table 3- close the drawer 4- place the packet on the table 5- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nopen the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you get me a snack from Mk kitchen Q: immediate next step? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nopen the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you get me a snack from Mk kitchen. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e","video":"613082695631007064.mp4"}
+{"uid":"8873370784762099095","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10255842136683916404.mp4"}
+{"uid":"11567181594586536793","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the black LAN wire in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5506349785298442409.mp4"}
+{"uid":"18382164550315267408","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput can in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13888858803828512289.mp4"}
+{"uid":"9470241433412130222","text":"\u003ctask:success:discrete:False\u003e\nput the black wire inside Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the cables and mouse back into the conference table trough and close the lid. last 20 steps: 1- put wire under the table 2- put wire under the table 3- put wire under the table 4- place a mouse on black table Q: next 5 steps? \u003cPRED\u003eA: 1- put the black wire inside 2- close cupboard slider 3- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the black wire inside\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the cables and mouse back into the conference table trough and close the lid. last 20 steps: 1- put wire under the table 2- put wire under the table 3- put wire under the table 4- place a mouse on black table Q: immediate next step? \u003cPRED\u003eA: put the black wire inside\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the cables and mouse back into the conference table trough and close the lid. Q: immediate next step? \u003cPRED\u003eA: put the black wire inside\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the black wire inside\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the black wire inside Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12121451546346541430.mp4"}
+{"uid":"5564273442639705437","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput cups in stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16056004703971956951.mp4"}
+{"uid":"1223927744235358241","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17298328513168642422.mp4"}
+{"uid":"13558841771544789103","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you get me a snack from Mk kitchen. last 20 steps: 1- open the drawer 2- place the packet on the table 3- close the drawer 4- place the packet on the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you get me a snack from Mk kitchen. last 20 steps: 1- open the drawer 2- place the packet on the table 3- close the drawer 4- place the packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you get me a snack from Mk kitchen Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7355545032750220801.mp4"}
+{"uid":"14463504941516729525","text":"\u003ctask:success:discrete:True\u003e\nput pear on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Take the fruits out of the bowl Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take the fruits out of the bowl. last 20 steps: 1- put apple on the table 2- put pear on the table 3- put pear on the table 4- put apple on the table 5- put pear on the table 6- put apple on the table 7- put pear on the table 8- put apple on the table 9- put pear on the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put pear on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take the fruits out of the bowl. last 20 steps: 1- put apple on the table 2- put pear on the table 3- put pear on the table 4- put apple on the table 5- put pear on the table 6- put apple on the table 7- put pear on the table 8- put apple on the table 9- put pear on the table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"664373405465596107.mp4"}
+{"uid":"495087283561594152","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put wire under the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput wire under the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput wire under the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the cables and mouse back into the conference table trough and close the lid. last 20 steps: 1- put wire under the table Q: next 5 steps? \u003cPRED\u003eA: 1- put wire under the table 2- put wire under the table 3- place a mouse on black table 4- put the black wire inside 5- close cupboard slider\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put wire under the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the cables and mouse back into the conference table trough and close the lid. Q: immediate next step? \u003cPRED\u003eA: put wire under the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the cables and mouse back into the conference table trough and close the lid. last 20 steps: 1- put wire under the table Q: immediate next step? \u003cPRED\u003eA: put wire under the table\n\u003c/PRED\u003e","video":"3986076713299874925.mp4"}
+{"uid":"14823967562279676132","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place a mouse on black table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace a mouse on black table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10394551442846050721.mp4"}
+{"uid":"3383815857205287463","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nclose the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you get me a snack from Mk kitchen Q: immediate next step? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you get me a snack from Mk kitchen. last 20 steps: 1- open the drawer 2- place the packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- close the drawer 2- place the packet on the table 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you get me a snack from Mk kitchen. last 20 steps: 1- open the drawer 2- place the packet on the table Q: immediate next step? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nclose the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13255493861016746017.mp4"}
+{"uid":"16960411039642896230","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the cables and mouse back into the conference table trough and close the lid. last 20 steps: 1- put wire under the table 2- put wire under the table 3- put wire under the table Q: immediate next step? \u003cPRED\u003eA: put mouse into the empty space\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the cables and mouse back into the conference table trough and close the lid. last 20 steps: 1- put wire under the table 2- put wire under the table 3- put wire under the table Q: next 5 steps? \u003cPRED\u003eA: 1- put mouse into the empty space 2- put the black wire inside 3- close cupboard slider 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put mouse into the empty space\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput mouse into the empty space Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put mouse into the empty space\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput mouse into the empty space Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the cables and mouse back into the conference table trough and close the lid. Q: immediate next step? \u003cPRED\u003eA: put mouse into the empty space\n\u003c/PRED\u003e","video":"10677032513554563778.mp4"}
+{"uid":"1020683479557455760","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput white packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"59887039678094892.mp4"}
+{"uid":"15839976207085325465","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take the fruits out of the bowl. last 20 steps: 1- put apple on the table 2- put pear on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put pear on the table 2- put apple on the table 3- put pear on the table 4- put apple on the table 5- put pear on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put pear on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Take the fruits out of the bowl Q: immediate next step? \u003cPRED\u003eA: put pear on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:False\u003e\nunstack the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take the fruits out of the bowl. last 20 steps: 1- put apple on the table 2- put pear on the table Q: immediate next step? \u003cPRED\u003eA: put pear on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put pear on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput pear on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6924553699679545401.mp4"}
+{"uid":"16937415300793392892","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop pistachios in the left bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16040266272012338946.mp4"}
+{"uid":"16848490461882790610","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the yellow marker in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7752970181180831637.mp4"}
+{"uid":"3546132478187683496","text":"\u003ctask:success:discrete:False\u003e\nput apple on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput apple on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take the fruits out of the bowl. last 20 steps: 1- put apple on the table 2- put pear on the table 3- put pear on the table 4- put apple on the table 5- put pear on the table Q: immediate next step? \u003cPRED\u003eA: put apple on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put apple on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put apple on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Take the fruits out of the bowl Q: immediate next step? \u003cPRED\u003eA: put apple on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take the fruits out of the bowl. last 20 steps: 1- put apple on the table 2- put pear on the table 3- put pear on the table 4- put apple on the table 5- put pear on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put apple on the table 2- put pear on the table 3- put apple on the table 4- put pear on the table 5- done\n\u003c/PRED\u003e","video":"3036952821030485283.mp4"}
+{"uid":"6877574611048114468","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put apple on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Take the fruits out of the bowl Q: immediate next step? \u003cPRED\u003eA: put apple on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put apple on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput apple on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput apple on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take the fruits out of the bowl. last 20 steps: 1- put apple on the table 2- put pear on the table 3- put pear on the table 4- put apple on the table 5- put pear on the table 6- put apple on the table 7- put pear on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put apple on the table 2- put pear on the table 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take the fruits out of the bowl. last 20 steps: 1- put apple on the table 2- put pear on the table 3- put pear on the table 4- put apple on the table 5- put pear on the table 6- put apple on the table 7- put pear on the table Q: immediate next step? \u003cPRED\u003eA: put apple on the table\n\u003c/PRED\u003e","video":"3026550110792869948.mp4"}
+{"uid":"12427134733100431905","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you get me a snack from Mk kitchen. last 20 steps: 1- open the drawer Q: immediate next step? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you get me a snack from Mk kitchen. last 20 steps: 1- open the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- place the packet on the table 2- close the drawer 3- place the packet on the table 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you get me a snack from Mk kitchen Q: immediate next step? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14044473870759269424.mp4"}
+{"uid":"10591509739772414533","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put mouse under the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the cables and mouse back into the conference table trough and close the lid. last 20 steps: 1- put wire under the table 2- put wire under the table 3- put wire under the table Q: immediate next step? \u003cPRED\u003eA: put mouse under the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put mouse under the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the cables and mouse back into the conference table trough and close the lid. last 20 steps: 1- put wire under the table 2- put wire under the table 3- put wire under the table Q: next 5 steps? \u003cPRED\u003eA: 1- put mouse under the table 2- put the black wire inside 3- close cupboard slider 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput mouse under the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the cables and mouse back into the conference table trough and close the lid. Q: immediate next step? \u003cPRED\u003eA: put mouse under the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput mouse under the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7967510391649802063.mp4"}
+{"uid":"14506095247800935537","text":"\u003ctask:success:discrete:True\u003e\nclose the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e","video":"8581580461668990292.mp4"}
+{"uid":"6182970584278978529","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4084878455602963252.mp4"}
+{"uid":"5304517468309049435","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nexit the room Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11641556898968133028.mp4"}
+{"uid":"2725526604683363987","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put the cables and mouse back into the conference table trough and close the lid. Q: immediate next step? \u003cPRED\u003eA: put wire under the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput wire under the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put wire under the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput wire under the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the cables and mouse back into the conference table trough and close the lid. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put wire under the table 2- put wire under the table 3- put wire under the table 4- place a mouse on black table 5- put the black wire inside\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put wire under the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the cables and mouse back into the conference table trough and close the lid. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put wire under the table\n\u003c/PRED\u003e","video":"6764293518793540246.mp4"}
+{"uid":"632255915073725632","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put the cables and mouse back into the conference table trough and close the lid. Q: immediate next step? \u003cPRED\u003eA: place a mouse on black table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place a mouse on black table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the cables and mouse back into the conference table trough and close the lid. last 20 steps: 1- put wire under the table 2- put wire under the table 3- put wire under the table Q: immediate next step? \u003cPRED\u003eA: place a mouse on black table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place a mouse on black table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace a mouse on black table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the cables and mouse back into the conference table trough and close the lid. last 20 steps: 1- put wire under the table 2- put wire under the table 3- put wire under the table Q: next 5 steps? \u003cPRED\u003eA: 1- place a mouse on black table 2- put the black wire inside 3- close cupboard slider 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace a mouse on black table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12383659040728218567.mp4"}
+{"uid":"10865546508713451864","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take the fruits out of the bowl. last 20 steps: 1- put apple on the table 2- put pear on the table 3- put pear on the table 4- put apple on the table 5- put pear on the table 6- put apple on the table Q: immediate next step? \u003cPRED\u003eA: put pear on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take the fruits out of the bowl. last 20 steps: 1- put apple on the table 2- put pear on the table 3- put pear on the table 4- put apple on the table 5- put pear on the table 6- put apple on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put pear on the table 2- put apple on the table 3- put pear on the table 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput pear on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput pear on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Take the fruits out of the bowl Q: immediate next step? \u003cPRED\u003eA: put pear on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put pear on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put pear on the table\n\u003c/PRED\u003e","video":"10370296016590763208.mp4"}
+{"uid":"7749069868793387643","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the snack in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6351470414091741173.mp4"}
+{"uid":"9395883351156985163","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: close cupboard slider\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the cables and mouse back into the conference table trough and close the lid. Q: immediate next step? \u003cPRED\u003eA: close cupboard slider\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nclose cupboard slider Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the cables and mouse back into the conference table trough and close the lid. last 20 steps: 1- put wire under the table 2- put wire under the table 3- put wire under the table 4- place a mouse on black table 5- put the black wire inside Q: immediate next step? \u003cPRED\u003eA: close cupboard slider\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the cables and mouse back into the conference table trough and close the lid. last 20 steps: 1- put wire under the table 2- put wire under the table 3- put wire under the table 4- place a mouse on black table 5- put the black wire inside Q: next 5 steps? \u003cPRED\u003eA: 1- close cupboard slider 2- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nclose cupboard slider Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: close cupboard slider\n\u003c/PRED\u003e","video":"10875441932658417010.mp4"}
+{"uid":"16343978625442688388","text":"\u003ctask:success:discrete:False\u003e\nclose the door Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: close the door\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the cables and mouse back into the conference table trough and close the lid. Q: immediate next step? \u003cPRED\u003eA: close the door\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the cables and mouse back into the conference table trough and close the lid. last 20 steps: 1- put wire under the table 2- put wire under the table 3- put wire under the table 4- place a mouse on black table 5- put the black wire inside Q: immediate next step? \u003cPRED\u003eA: close the door\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: close the door\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the cables and mouse back into the conference table trough and close the lid. last 20 steps: 1- put wire under the table 2- put wire under the table 3- put wire under the table 4- place a mouse on black table 5- put the black wire inside Q: next 5 steps? \u003cPRED\u003eA: 1- close the door 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nclose the door Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16880608986883995270.mp4"}
+{"uid":"1106525821367831191","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput apple on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take the fruits out of the bowl. last 20 steps: 1- put apple on the table 2- put pear on the table 3- put pear on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put apple on the table 2- put pear on the table 3- put apple on the table 4- put pear on the table 5- put apple on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put apple on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take the fruits out of the bowl. last 20 steps: 1- put apple on the table 2- put pear on the table 3- put pear on the table Q: immediate next step? \u003cPRED\u003eA: put apple on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput apple on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put apple on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Take the fruits out of the bowl Q: immediate next step? \u003cPRED\u003eA: put apple on the table\n\u003c/PRED\u003e","video":"12244361516864129370.mp4"}
+{"uid":"4007485064416386326","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the cables and mouse back into the conference table trough and close the lid. last 20 steps: 1- put wire under the table 2- put wire under the table Q: immediate next step? \u003cPRED\u003eA: put wire under the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput wire under the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the cables and mouse back into the conference table trough and close the lid. Q: immediate next step? \u003cPRED\u003eA: put wire under the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put wire under the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put wire under the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the cables and mouse back into the conference table trough and close the lid. last 20 steps: 1- put wire under the table 2- put wire under the table Q: next 5 steps? \u003cPRED\u003eA: 1- put wire under the table 2- place a mouse on black table 3- put the black wire inside 4- close cupboard slider 5- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput wire under the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17786539119594530143.mp4"}
+{"uid":"3982700499521495944","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the nacho packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9929583115292174807.mp4"}
+{"uid":"14389837371916653116","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3608653046017253452.mp4"}
+{"uid":"794805721480366594","text":"\u003ctask:success:discrete:False\u003e\nput pear on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Take the fruits out of the bowl Q: immediate next step? \u003cPRED\u003eA: put pear on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput pear on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put pear on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put pear on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take the fruits out of the bowl. last 20 steps: 1- put apple on the table 2- put pear on the table 3- put pear on the table 4- put apple on the table Q: immediate next step? \u003cPRED\u003eA: put pear on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take the fruits out of the bowl. last 20 steps: 1- put apple on the table 2- put pear on the table 3- put pear on the table 4- put apple on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put pear on the table 2- put apple on the table 3- put pear on the table 4- put apple on the table 5- put pear on the table\n\u003c/PRED\u003e","video":"8127940059259360992.mp4"}
+{"uid":"12621756026133827310","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nclose the top drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17018341096154350277.mp4"}
+{"uid":"7703085545360120573","text":"\u003ctask:success:discrete:True\u003e\nput apple on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put apple on the table\n\u003c/PRED\u003e","video":"8667662771924194413.mp4"}
+{"uid":"11119273550848092259","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput packet on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5030698414121657456.mp4"}
+{"uid":"10071004491232827729","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput sticky notes on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7392778698583947622.mp4"}
+{"uid":"4017482333403277114","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput pear on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput pear on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Take the fruits out of the bowl Q: immediate next step? \u003cPRED\u003eA: put pear on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take the fruits out of the bowl. last 20 steps: 1- put apple on the table Q: immediate next step? \u003cPRED\u003eA: put pear on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take the fruits out of the bowl. last 20 steps: 1- put apple on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put pear on the table 2- put pear on the table 3- put apple on the table 4- put pear on the table 5- put apple on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put pear on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put pear on the table\n\u003c/PRED\u003e","video":"11991305876810754455.mp4"}
+{"uid":"17994812838883583929","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the bowl on the chest of drawers Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17726828190439079626.mp4"}