diff --git "a/json/train/data-00001-of-00160.json" "b/json/train/data-00001-of-00160.json"
new file mode 100644--- /dev/null
+++ "b/json/train/data-00001-of-00160.json"
@@ -0,0 +1,1477 @@
+{"uid":"7007579847058260736","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput 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 relace the Tiny twists pretzels in the tray with smart 50 popcorn. Q: immediate next step? \u003cPRED\u003eA: put the packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please relace the Tiny twists pretzels in the tray with smart 50 popcorn. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put the packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please relace the Tiny twists pretzels in the tray with smart 50 popcorn. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put the packet on the table 2- put the yellow packet on the table 3- put the rold gold packet on the table in a queue 4- put the packet on the table 5- put the packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput 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: put the packet on the table\n\u003c/PRED\u003e","video":"3924356310220790727.mp4"}
+{"uid":"6207849186610869680","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please relace the Tiny twists pretzels in the tray with smart 50 popcorn. last 20 steps: 1- put the rold gold packet on the table in a queue Q: next 5 steps? \u003cPRED\u003eA: 1- put the rold gold packet on the table in a queue 2- put the rold gold packet on the table in a queue 3- put the packet on the table 4- put the packet on the table 5- put the packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the rold gold packet on the table in a 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the rold gold packet on the table in a queue\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the rold gold packet on the table in a queue\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please relace the Tiny twists pretzels in the tray with smart 50 popcorn. last 20 steps: 1- put the rold gold packet on the table in a queue Q: immediate next step? \u003cPRED\u003eA: put the rold gold packet on the table in a queue\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please relace the Tiny twists pretzels in the tray with smart 50 popcorn. Q: immediate next step? \u003cPRED\u003eA: put the rold gold packet on the table in a queue\n\u003c/PRED\u003e","video":"8673926655401820014.mp4"}
+{"uid":"8548187697487343451","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nturn the bowl 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":"17253171167094764710.mp4"}
+{"uid":"7580581956483192867","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":"13187016823297793605.mp4"}
+{"uid":"5239610626640728684","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the small brown 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":"3976899082445912772.mp4"}
+{"uid":"5145003469155650023","text":"\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\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:planning:freeform\u003e\ncurrent goal is: Please relace the Tiny twists pretzels in the tray with smart 50 popcorn. 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: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: Please relace the Tiny twists pretzels in the tray with smart 50 popcorn. last 20 steps: 1- put the rold gold packet on the table in a queue 2- put the yellow packet on the table 3- put the rold gold packet on the table in a queue 4- put the packet on the table 5- put the packet on the table 6- put the packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put white packet in the tray 2- put white packet in the tray 3- put white packet in the tray 4- put white packet in the tray 5- put the white packet into the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please relace the Tiny twists pretzels in the tray with smart 50 popcorn. last 20 steps: 1- put the rold gold packet on the table in a queue 2- put the yellow packet on the table 3- put the rold gold packet on the table in a queue 4- put the packet on the table 5- put the packet on the table 6- put the packet on the table Q: immediate next step? \u003cPRED\u003eA: put white packet in the tray\n\u003c/PRED\u003e","video":"1532176484053207553.mp4"}
+{"uid":"4737730778031902164","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the yellow packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please relace the Tiny twists pretzels in the tray with smart 50 popcorn. last 20 steps: 1- put the rold gold packet on the table in a queue 2- put the yellow packet on the table 3- put the rold gold packet on the table in a queue 4- put the packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put the yellow packet on the table 2- put the packet on the table 3- put the white packet in the tray in a queue 4- put white packet in the tray 5- put white packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please relace the Tiny twists pretzels in the tray with smart 50 popcorn. Q: immediate next step? \u003cPRED\u003eA: put the yellow packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please relace the Tiny twists pretzels in the tray with smart 50 popcorn. last 20 steps: 1- put the rold gold packet on the table in a queue 2- put the yellow packet on the table 3- put the rold gold packet on the table in a queue 4- put the packet on the table Q: immediate next step? \u003cPRED\u003eA: put the yellow packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the yellow packet on the table\n\u003c/PRED\u003e","video":"14764570672583529121.mp4"}
+{"uid":"5860988508631501046","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace 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":"1264564939248709783.mp4"}
+{"uid":"5948513392746407624","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the white tray 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":"4293120996232712436.mp4"}
+{"uid":"17405279458103867103","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the orange 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":"2520460908084188794.mp4"}
+{"uid":"6356720160905067954","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Please relace the Tiny twists pretzels in the tray with smart 50 popcorn. Q: immediate next step? \u003cPRED\u003eA: put the rold gold packet on the table in a queue\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the rold gold packet on the table in a 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the rold gold packet on the table in a queue\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the rold gold packet on the table in a queue\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please relace the Tiny twists pretzels in the tray with smart 50 popcorn. last 20 steps: 1- put the rold gold packet on the table in a queue 2- put the yellow packet on the table 3- put the rold gold packet on the table in a queue 4- put the packet on the table 5- put the packet on the table 6- put the packet on the table 7- put the white packet in the tray in a queue 8- put white packet in the tray 9- put white packet in the tray Q: immediate next step? \u003cPRED\u003eA: put the rold gold packet on the table in a queue\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please relace the Tiny twists pretzels in the tray with smart 50 popcorn. last 20 steps: 1- put the rold gold packet on the table in a queue 2- put the yellow packet on the table 3- put the rold gold packet on the table in a queue 4- put the packet on the table 5- put the packet on the table 6- put the packet on the table 7- put the white packet in the tray in a queue 8- put white packet in the tray 9- put white packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put the rold gold packet on the table in a queue 2- put the white packet into the tray 3- done\n\u003c/PRED\u003e","video":"18343214115678243184.mp4"}
+{"uid":"8364503116070153660","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please relace the Tiny twists pretzels in the tray with smart 50 popcorn. last 20 steps: 1- put the rold gold packet on the table in a queue 2- put the yellow packet on the table 3- put the rold gold packet on the table in a queue 4- put the packet on the table 5- put the packet on the table 6- put the packet on the table 7- put the white packet in the tray in a queue 8- put white packet in the tray 9- put white packet in the tray 10- put white packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put white packet in the tray 2- done\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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please relace the Tiny twists pretzels in the tray with smart 50 popcorn. last 20 steps: 1- put the rold gold packet on the table in a queue 2- put the yellow packet on the table 3- put the rold gold packet on the table in a queue 4- put the packet on the table 5- put the packet on the table 6- put the packet on the table 7- put the white packet in the tray in a queue 8- put white packet in the tray 9- put white packet in the tray 10- put white packet in the tray Q: immediate next step? \u003cPRED\u003eA: put white packet in the tray\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\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:planning:freeform\u003e\ncurrent goal is: Please relace the Tiny twists pretzels in the tray with smart 50 popcorn. Q: immediate next step? \u003cPRED\u003eA: put white packet in the tray\n\u003c/PRED\u003e","video":"560593303054517457.mp4"}
+{"uid":"945807032827286815","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":"15422647833696565929.mp4"}
+{"uid":"4234732207152962816","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nturn on the switch Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9191112325961314620.mp4"}
+{"uid":"14716135906781981713","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\narrange plates 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":"8794683353906704389.mp4"}
+{"uid":"8234479632955497641","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput 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: put the packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please relace the Tiny twists pretzels in the tray with smart 50 popcorn. last 20 steps: 1- put the rold gold packet on the table in a queue Q: next 5 steps? \u003cPRED\u003eA: 1- put the packet on the table 2- put the rold gold packet on the table in a queue 3- put the packet on the table 4- put the packet on the table 5- put the packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please relace the Tiny twists pretzels in the tray with smart 50 popcorn. Q: immediate next step? \u003cPRED\u003eA: put the packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please relace the Tiny twists pretzels in the tray with smart 50 popcorn. last 20 steps: 1- put the rold gold packet on the table in a queue Q: immediate next step? \u003cPRED\u003eA: put the packet on the table\n\u003c/PRED\u003e","video":"2977933043759653234.mp4"}
+{"uid":"173176801061649839","text":"\u003ctask:success:discrete:False\u003e\nput the white packet in the tray in a 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please relace the Tiny twists pretzels in the tray with smart 50 popcorn. last 20 steps: 1- put the rold gold packet on the table in a queue 2- put the yellow packet on the table 3- put the rold gold packet on the table in a queue 4- put the packet on the table 5- put the packet on the table 6- put the packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put the white packet in the tray in a queue 2- put white packet in the tray 3- put white packet in the tray 4- put white packet in the tray 5- put the white packet into the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the white packet in the tray in a queue\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please relace the Tiny twists pretzels in the tray with smart 50 popcorn. Q: immediate next step? \u003cPRED\u003eA: put the white packet in the tray in a queue\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 tray in a queue\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please relace the Tiny twists pretzels in the tray with smart 50 popcorn. last 20 steps: 1- put the rold gold packet on the table in a queue 2- put the yellow packet on the table 3- put the rold gold packet on the table in a queue 4- put the packet on the table 5- put the packet on the table 6- put the packet on the table Q: immediate next step? \u003cPRED\u003eA: put the white packet in the tray in a queue\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the white packet in the tray in a 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":"8151060637774598162.mp4"}
+{"uid":"13921226573146915028","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove to the left side 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\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the pink candy 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":"10205043026844550692.mp4"}
+{"uid":"2271642215994654340","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":"7376484319395804558.mp4"}
+{"uid":"1878976409148527838","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":"2986129442502871754.mp4"}
+{"uid":"10457029810759830716","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please relace the Tiny twists pretzels in the tray with smart 50 popcorn. last 20 steps: 1- put the rold gold packet on the table in a queue 2- put the yellow packet on the table 3- put the rold gold packet on the table in a queue Q: next 5 steps? \u003cPRED\u003eA: 1- put the packet on the table 2- put the packet on the table 3- put the packet on the table 4- put the white packet in the tray in a queue 5- put white packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please relace the Tiny twists pretzels in the tray with smart 50 popcorn. Q: immediate next step? \u003cPRED\u003eA: put the packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please relace the Tiny twists pretzels in the tray with smart 50 popcorn. last 20 steps: 1- put the rold gold packet on the table in a queue 2- put the yellow packet on the table 3- put the rold gold packet on the table in a queue Q: immediate next step? \u003cPRED\u003eA: put the packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput 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":"9254302959635441255.mp4"}
+{"uid":"8463711199833896022","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please relace the Tiny twists pretzels in the tray with smart 50 popcorn. last 20 steps: 1- put the rold gold packet on the table in a queue 2- put the yellow packet on the table 3- put the rold gold packet on the table in a queue 4- put the packet on the table 5- put the packet on the table 6- put the packet on the table 7- put the white packet in the tray in a queue 8- put white packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put the rold gold packet on the table in a queue 2- put white packet in the tray 3- put the white packet into the tray 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the rold gold packet on the table in a queue\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the rold gold packet on the table in a queue\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please relace the Tiny twists pretzels in the tray with smart 50 popcorn. Q: immediate next step? \u003cPRED\u003eA: put the rold gold packet on the table in a queue\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the rold gold packet on the table in a 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please relace the Tiny twists pretzels in the tray with smart 50 popcorn. last 20 steps: 1- put the rold gold packet on the table in a queue 2- put the yellow packet on the table 3- put the rold gold packet on the table in a queue 4- put the packet on the table 5- put the packet on the table 6- put the packet on the table 7- put the white packet in the tray in a queue 8- put white packet in the tray Q: immediate next step? \u003cPRED\u003eA: put the rold gold packet on the table in a queue\n\u003c/PRED\u003e","video":"5688072830697665607.mp4"}
+{"uid":"2118240101669009464","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput 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:planning:freeform\u003e\ncurrent goal is: Please relace the Tiny twists pretzels in the tray with smart 50 popcorn. Q: immediate next step? \u003cPRED\u003eA: put the yellow packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please relace the Tiny twists pretzels in the tray with smart 50 popcorn. last 20 steps: 1- put the rold gold packet on the table in a queue 2- put the yellow packet on the table 3- put the rold gold packet on the table in a queue 4- put the packet on the table 5- put the packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put the yellow packet on the table 2- put the white packet in the tray in a queue 3- put white packet in the tray 4- put white packet in the tray 5- put white 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 yellow packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please relace the Tiny twists pretzels in the tray with smart 50 popcorn. last 20 steps: 1- put the rold gold packet on the table in a queue 2- put the yellow packet on the table 3- put the rold gold packet on the table in a queue 4- put the packet on the table 5- put the packet on the table Q: immediate next step? \u003cPRED\u003eA: put the yellow packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the yellow packet on the table\n\u003c/PRED\u003e","video":"12289949058053631596.mp4"}
+{"uid":"13547960440243191797","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":"16797238529437073069.mp4"}
+{"uid":"17506059998790607349","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Please relace the Tiny twists pretzels in the tray with smart 50 popcorn. Q: immediate next step? \u003cPRED\u003eA: put the white packet into the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please relace the Tiny twists pretzels in the tray with smart 50 popcorn. last 20 steps: 1- put the rold gold packet on the table in a queue 2- put the yellow packet on the table 3- put the rold gold packet on the table in a queue 4- put the packet on the table 5- put the packet on the table 6- put the packet on the table 7- put the white packet in the tray in a queue 8- put white packet in the tray Q: immediate next step? \u003cPRED\u003eA: put the white packet into the tray\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 tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the white packet 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please relace the Tiny twists pretzels in the tray with smart 50 popcorn. last 20 steps: 1- put the rold gold packet on the table in a queue 2- put the yellow packet on the table 3- put the rold gold packet on the table in a queue 4- put the packet on the table 5- put the packet on the table 6- put the packet on the table 7- put the white packet in the tray in a queue 8- put white packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put the white packet into the tray 2- put white packet in the tray 3- put the white packet into the tray 4- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the white packet into the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:False\u003e\nput cap 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":"13861376027225548413.mp4"}
+{"uid":"13808689487448495911","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":"9390186234464291800.mp4"}
+{"uid":"4432130406613599986","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace 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":"7212797877616641338.mp4"}
+{"uid":"10367529534540396251","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput 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":"2001179385867637161.mp4"}
+{"uid":"6112632643728051690","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Please relace the Tiny twists pretzels in the tray with smart 50 popcorn. Q: immediate next step? \u003cPRED\u003eA: put the packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please relace the Tiny twists pretzels in the tray with smart 50 popcorn. last 20 steps: 1- put the rold gold packet on the table in a queue 2- put the yellow packet on the table Q: immediate next step? \u003cPRED\u003eA: put the packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please relace the Tiny twists pretzels in the tray with smart 50 popcorn. last 20 steps: 1- put the rold gold packet on the table in a queue 2- put the yellow packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put the packet on the table 2- put the packet on the table 3- put the packet on the table 4- put the packet on the table 5- put the white packet in the tray in a queue\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput 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":"1842402732312281929.mp4"}
+{"uid":"17837626714258491739","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the rold gold packet on the table in a queue\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please relace the Tiny twists pretzels in the tray with smart 50 popcorn. last 20 steps: 1- put the rold gold packet on the table in a queue 2- put the yellow packet on the table 3- put the rold gold packet on the table in a queue 4- put the packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put the rold gold packet on the table in a queue 2- put the packet on the table 3- put the white packet in the tray in a queue 4- put white packet in the tray 5- put white packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please relace the Tiny twists pretzels in the tray with smart 50 popcorn. last 20 steps: 1- put the rold gold packet on the table in a queue 2- put the yellow packet on the table 3- put the rold gold packet on the table in a queue 4- put the packet on the table Q: immediate next step? \u003cPRED\u003eA: put the rold gold packet on the table in a queue\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the rold gold packet on the table in a 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the rold gold packet on the table in a queue\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please relace the Tiny twists pretzels in the tray with smart 50 popcorn. Q: immediate next step? \u003cPRED\u003eA: put the rold gold packet on the table in a queue\n\u003c/PRED\u003e","video":"5773552491702020884.mp4"}
+{"uid":"12320309795264718542","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please relace the Tiny twists pretzels in the tray with smart 50 popcorn. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put the rold gold packet on the table in a queue\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the rold gold packet on the table in a queue\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the rold gold packet on the table in a queue\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the rold gold packet on the table in a 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:planning:freeform\u003e\ncurrent goal is: Please relace the Tiny twists pretzels in the tray with smart 50 popcorn. Q: immediate next step? \u003cPRED\u003eA: put the rold gold packet on the table in a queue\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the rold gold packet on the table in a 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: Please relace the Tiny twists pretzels in the tray with smart 50 popcorn. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put the rold gold packet on the table in a queue 2- put the yellow packet on the table 3- put the rold gold packet on the table in a queue 4- put the packet on the table 5- put the packet on the table\n\u003c/PRED\u003e","video":"16086721129005821398.mp4"}
+{"uid":"3140684931271777790","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":"18404683707779425628.mp4"}
+{"uid":"12636160668649168367","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please relace the Tiny twists pretzels in the tray with smart 50 popcorn. last 20 steps: 1- put the rold gold packet on the table in a queue 2- put the yellow packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put the yellow packet on the table 2- put the packet on the table 3- put the packet on the table 4- put the packet on the table 5- put the white packet in the tray in a queue\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the yellow packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please relace the Tiny twists pretzels in the tray with smart 50 popcorn. Q: immediate next step? \u003cPRED\u003eA: put the yellow 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 yellow packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please relace the Tiny twists pretzels in the tray with smart 50 popcorn. last 20 steps: 1- put the rold gold packet on the table in a queue 2- put the yellow packet on the table Q: immediate next step? \u003cPRED\u003eA: put the yellow packet on the table\n\u003c/PRED\u003e","video":"10822654133151949504.mp4"}
+{"uid":"16122608038343096091","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please relace the Tiny twists pretzels in the tray with smart 50 popcorn. last 20 steps: 1- put the rold gold packet on the table in a queue 2- put the yellow packet on the table 3- put the rold gold packet on the table in a queue 4- put the packet on the table 5- put the packet on the table 6- put the packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put the white packet into the tray 2- put white packet in the tray 3- put white packet in the tray 4- put white packet in the tray 5- put the white packet into the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the white packet 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please relace the Tiny twists pretzels in the tray with smart 50 popcorn. last 20 steps: 1- put the rold gold packet on the table in a queue 2- put the yellow packet on the table 3- put the rold gold packet on the table in a queue 4- put the packet on the table 5- put the packet on the table 6- put the packet on the table Q: immediate next step? \u003cPRED\u003eA: put the white packet into the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the white packet into the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the white packet 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the white packet into the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please relace the Tiny twists pretzels in the tray with smart 50 popcorn. Q: immediate next step? \u003cPRED\u003eA: put the white packet into the tray\n\u003c/PRED\u003e","video":"9402987422955342056.mp4"}
+{"uid":"11827162531377649846","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please relace the Tiny twists pretzels in the tray with smart 50 popcorn. last 20 steps: 1- put the rold gold packet on the table in a queue 2- put the yellow packet on the table 3- put the rold gold packet on the table in a queue 4- put the packet on the table 5- put the packet on the table 6- put the packet on the table 7- put the white packet in the tray in a queue 8- put white packet in the tray 9- put white packet in the tray 10- put white packet in the tray Q: immediate next step? \u003cPRED\u003eA: put the rold gold packet on the table in a queue\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the rold gold packet on the table in a queue\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the rold gold packet on the table in a queue\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please relace the Tiny twists pretzels in the tray with smart 50 popcorn. Q: immediate next step? \u003cPRED\u003eA: put the rold gold packet on the table in a queue\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the rold gold packet on the table in a 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: Please relace the Tiny twists pretzels in the tray with smart 50 popcorn. last 20 steps: 1- put the rold gold packet on the table in a queue 2- put the yellow packet on the table 3- put the rold gold packet on the table in a queue 4- put the packet on the table 5- put the packet on the table 6- put the packet on the table 7- put the white packet in the tray in a queue 8- put white packet in the tray 9- put white packet in the tray 10- put white packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put the rold gold packet on the table in a queue 2- done\n\u003c/PRED\u003e","video":"5579410967741793302.mp4"}
+{"uid":"12918092842043769874","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":"5773296536878903307.mp4"}
+{"uid":"13086631733607091699","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please relace the Tiny twists pretzels in the tray with smart 50 popcorn. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put the yellow packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please relace the Tiny twists pretzels in the tray with smart 50 popcorn. Q: immediate next step? \u003cPRED\u003eA: put the yellow packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please relace the Tiny twists pretzels in the tray with smart 50 popcorn. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put the yellow packet on the table 2- put the yellow packet on the table 3- put the rold gold packet on the table in a queue 4- put the packet on the table 5- put the packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the yellow 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 yellow packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput 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","video":"13318565165336573342.mp4"}
+{"uid":"109364838125431285","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":"8511963028294383000.mp4"}
+{"uid":"705239288091609789","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the yellow 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 yellow packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please relace the Tiny twists pretzels in the tray with smart 50 popcorn. Q: immediate next step? \u003cPRED\u003eA: put the yellow packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please relace the Tiny twists pretzels in the tray with smart 50 popcorn. last 20 steps: 1- put the rold gold packet on the table in a queue Q: next 5 steps? \u003cPRED\u003eA: 1- put the yellow packet on the table 2- put the rold gold packet on the table in a queue 3- put the packet on the table 4- put the packet on the table 5- put the packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please relace the Tiny twists pretzels in the tray with smart 50 popcorn. last 20 steps: 1- put the rold gold packet on the table in a queue Q: immediate next step? \u003cPRED\u003eA: put the yellow packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput 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","video":"13400493060272262788.mp4"}
+{"uid":"17698439948951849502","text":"\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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please relace the Tiny twists pretzels in the tray with smart 50 popcorn. last 20 steps: 1- put the rold gold packet on the table in a queue 2- put the yellow packet on the table 3- put the rold gold packet on the table in a queue 4- put the packet on the table 5- put the packet on the table 6- put the packet on the table 7- put the white packet in the tray in a queue 8- put white packet in the tray 9- put white packet in the tray Q: immediate next step? \u003cPRED\u003eA: put white packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please relace the Tiny twists pretzels in the tray with smart 50 popcorn. last 20 steps: 1- put the rold gold packet on the table in a queue 2- put the yellow packet on the table 3- put the rold gold packet on the table in a queue 4- put the packet on the table 5- put the packet on the table 6- put the packet on the table 7- put the white packet in the tray in a queue 8- put white packet in the tray 9- put white packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put white packet in the tray 2- put the white packet into the tray 3- done\n\u003c/PRED\u003e\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:planning:freeform\u003e\ncurrent goal is: Please relace the Tiny twists pretzels in the tray with smart 50 popcorn. Q: immediate next step? \u003cPRED\u003eA: put white packet in the tray\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":"13383416399021250538.mp4"}
+{"uid":"9378100538958988367","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please relace the Tiny twists pretzels in the tray with smart 50 popcorn. last 20 steps: 1- put the rold gold packet on the table in a queue 2- put the yellow packet on the table 3- put the rold gold packet on the table in a queue 4- put the packet on the table 5- put the packet on the table 6- put the packet on the table 7- put the white packet in the tray in a queue 8- put white packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put white packet in the tray 2- put white packet in the tray 3- put the white packet into the tray 4- done\n\u003c/PRED\u003e\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:planning:freeform\u003e\ncurrent goal is: Please relace the Tiny twists pretzels in the tray with smart 50 popcorn. Q: immediate next step? \u003cPRED\u003eA: put white packet in the tray\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\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please relace the Tiny twists pretzels in the tray with smart 50 popcorn. last 20 steps: 1- put the rold gold packet on the table in a queue 2- put the yellow packet on the table 3- put the rold gold packet on the table in a queue 4- put the packet on the table 5- put the packet on the table 6- put the packet on the table 7- put the white packet in the tray in a queue 8- put white packet in the tray 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","video":"12339896155986849804.mp4"}
+{"uid":"4001285326738699532","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the seaweed packet in the right side of tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4949938082123440924.mp4"}
+{"uid":"12518321551515320877","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ngrab 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":"5009495525106850359.mp4"}
+{"uid":"17382903403235445852","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":"7970032174715528786.mp4"}
+{"uid":"17776634313734453603","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the fruit 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":"15750990469884187845.mp4"}
+{"uid":"11063775175632668597","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput a candy 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":"12975913759263361883.mp4"}
+{"uid":"751862165698219548","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please relace the Tiny twists pretzels in the tray with smart 50 popcorn. last 20 steps: 1- put the rold gold packet on the table in a queue 2- put the yellow packet on the table 3- put the rold gold packet on the table in a queue 4- put the packet on the table 5- put the packet on the table Q: immediate next step? \u003cPRED\u003eA: put the rold gold packet on the table in a queue\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the rold gold packet on the table in a queue\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please relace the Tiny twists pretzels in the tray with smart 50 popcorn. Q: immediate next step? \u003cPRED\u003eA: put the rold gold packet on the table in a queue\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the rold gold packet on the table in a 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the rold gold packet on the table in a queue\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please relace the Tiny twists pretzels in the tray with smart 50 popcorn. last 20 steps: 1- put the rold gold packet on the table in a queue 2- put the yellow packet on the table 3- put the rold gold packet on the table in a queue 4- put the packet on the table 5- put the packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put the rold gold packet on the table in a queue 2- put the white packet in the tray in a queue 3- put white packet in the tray 4- put white packet in the tray 5- put white packet in the tray\n\u003c/PRED\u003e","video":"17230622538473067109.mp4"}
+{"uid":"1870578556196245080","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":"13356288182647639147.mp4"}
+{"uid":"1996006581493063438","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please relace the Tiny twists pretzels in the tray with smart 50 popcorn. last 20 steps: 1- put the rold gold packet on the table in a queue 2- put the yellow packet on the table 3- put the rold gold packet on the table in a queue 4- put the packet on the table 5- put the packet on the table 6- put the packet on the table 7- put the white packet in the tray in a queue 8- put white packet in the tray 9- put white packet in the tray 10- put white packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put the white packet into the tray 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please relace the Tiny twists pretzels in the tray with smart 50 popcorn. Q: immediate next step? \u003cPRED\u003eA: put the white packet into the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please relace the Tiny twists pretzels in the tray with smart 50 popcorn. last 20 steps: 1- put the rold gold packet on the table in a queue 2- put the yellow packet on the table 3- put the rold gold packet on the table in a queue 4- put the packet on the table 5- put the packet on the table 6- put the packet on the table 7- put the white packet in the tray in a queue 8- put white packet in the tray 9- put white packet in the tray 10- put white packet in the tray Q: immediate next step? \u003cPRED\u003eA: put the white packet into the tray\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 tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the white packet into the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the white packet 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","video":"2060598101116536132.mp4"}
+{"uid":"17785474292431751543","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Please relace the Tiny twists pretzels in the tray with smart 50 popcorn. Q: immediate next step? \u003cPRED\u003eA: put the packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please relace the Tiny twists pretzels in the tray with smart 50 popcorn. last 20 steps: 1- put the rold gold packet on the table in a queue 2- put the yellow packet on the table 3- put the rold gold packet on the table in a queue 4- put the packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put the packet on the table 2- put the packet on the table 3- put the white packet in the tray in a queue 4- put white packet in the tray 5- put white packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please relace the Tiny twists pretzels in the tray with smart 50 popcorn. last 20 steps: 1- put the rold gold packet on the table in a queue 2- put the yellow packet on the table 3- put the rold gold packet on the table in a queue 4- put the packet on the table Q: immediate next step? \u003cPRED\u003eA: put the packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput 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: put the packet on the table\n\u003c/PRED\u003e","video":"6266521928508384535.mp4"}
+{"uid":"15637125909971585866","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please relace the Tiny twists pretzels in the tray with smart 50 popcorn. last 20 steps: 1- put the rold gold packet on the table in a queue 2- put the yellow packet on the table 3- put the rold gold packet on the table in a queue 4- put the packet on the table 5- put the packet on the table 6- put the packet on the table 7- put the white packet in the tray in a queue Q: immediate next step? \u003cPRED\u003eA: put the white packet into the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the white packet into the tray\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 tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please relace the Tiny twists pretzels in the tray with smart 50 popcorn. Q: immediate next step? \u003cPRED\u003eA: put the rold gold packet on the table in a queue\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please relace the Tiny twists pretzels in the tray with smart 50 popcorn. Q: immediate next step? \u003cPRED\u003eA: put the white packet into the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the white packet 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 rold gold packet on the table in a 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\nput the rold gold packet on the table in a 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please relace the Tiny twists pretzels in the tray with smart 50 popcorn. last 20 steps: 1- put the rold gold packet on the table in a queue 2- put the yellow packet on the table 3- put the rold gold packet on the table in a queue 4- put the packet on the table 5- put the packet on the table 6- put the packet on the table 7- put the white packet in the tray in a queue Q: immediate next step? \u003cPRED\u003eA: put the rold gold packet on the table in a queue\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please relace the Tiny twists pretzels in the tray with smart 50 popcorn. last 20 steps: 1- put the rold gold packet on the table in a queue 2- put the yellow packet on the table 3- put the rold gold packet on the table in a queue 4- put the packet on the table 5- put the packet on the table 6- put the packet on the table 7- put the white packet in the tray in a queue Q: next 5 steps? \u003cPRED\u003eA: 1- put the rold gold packet on the table in a queue 2- put white packet in the tray 3- put white packet in the tray 4- put the white packet into the tray 5- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the rold gold packet on the table in a queue\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please relace the Tiny twists pretzels in the tray with smart 50 popcorn. last 20 steps: 1- put the rold gold packet on the table in a queue 2- put the yellow packet on the table 3- put the rold gold packet on the table in a queue 4- put the packet on the table 5- put the packet on the table 6- put the packet on the table 7- put the white packet in the tray in a queue Q: next 5 steps? \u003cPRED\u003eA: 1- put the white packet into the tray 2- put white packet in the tray 3- put white packet in the tray 4- put the white packet into the tray 5- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the rold gold packet on the table in a queue\n\u003c/PRED\u003e","video":"9846063358197749649.mp4"}
+{"uid":"13868949921945271240","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\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the blue kettle 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":"9592245834257693050.mp4"}
+{"uid":"4992062003484275225","text":"\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\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please relace the Tiny twists pretzels in the tray with smart 50 popcorn. last 20 steps: 1- put the rold gold packet on the table in a queue 2- put the yellow packet on the table 3- put the rold gold packet on the table in a queue 4- put the packet on the table 5- put the packet on the table 6- put the packet on the table 7- put the white packet in the tray in a queue Q: immediate next step? \u003cPRED\u003eA: put white packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please relace the Tiny twists pretzels in the tray with smart 50 popcorn. last 20 steps: 1- put the rold gold packet on the table in a queue 2- put the yellow packet on the table 3- put the rold gold packet on the table in a queue 4- put the packet on the table 5- put the packet on the table 6- put the packet on the table 7- put the white packet in the tray in a queue Q: next 5 steps? \u003cPRED\u003eA: 1- put white packet in the tray 2- put white packet in the tray 3- put white packet in the tray 4- put the white packet into the tray 5- done\n\u003c/PRED\u003e\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: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: Please relace the Tiny twists pretzels in the tray with smart 50 popcorn. Q: immediate next step? \u003cPRED\u003eA: put white packet in the tray\n\u003c/PRED\u003e","video":"13214288560292692878.mp4"}
+{"uid":"3162270777170467023","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please relace the Tiny twists pretzels in the tray with smart 50 popcorn. last 20 steps: 1- put the rold gold packet on the table in a queue 2- put the yellow packet on the table 3- put the rold gold packet on the table in a queue 4- put the packet on the table 5- put the packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put the packet on the table 2- put the white packet in the tray in a queue 3- put white packet in the tray 4- put white packet in the tray 5- put white packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please relace the Tiny twists pretzels in the tray with smart 50 popcorn. Q: immediate next step? \u003cPRED\u003eA: put the packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the 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 packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please relace the Tiny twists pretzels in the tray with smart 50 popcorn. last 20 steps: 1- put the rold gold packet on the table in a queue 2- put the yellow packet on the table 3- put the rold gold packet on the table in a queue 4- put the packet on the table 5- put the packet on the table Q: immediate next step? \u003cPRED\u003eA: put the packet on the table\n\u003c/PRED\u003e","video":"3514249178392930797.mp4"}
+{"uid":"14525413803547880555","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace 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":"1170714825112056694.mp4"}
+{"uid":"9499790157216217681","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the white packet 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the white packet into the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please relace the Tiny twists pretzels in the tray with smart 50 popcorn. last 20 steps: 1- put the rold gold packet on the table in a queue 2- put the yellow packet on the table 3- put the rold gold packet on the table in a queue 4- put the packet on the table 5- put the packet on the table 6- put the packet on the table 7- put the white packet in the tray in a queue 8- put white packet in the tray 9- put white packet in the tray Q: immediate next step? \u003cPRED\u003eA: put the white packet into the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please relace the Tiny twists pretzels in the tray with smart 50 popcorn. last 20 steps: 1- put the rold gold packet on the table in a queue 2- put the yellow packet on the table 3- put the rold gold packet on the table in a queue 4- put the packet on the table 5- put the packet on the table 6- put the packet on the table 7- put the white packet in the tray in a queue 8- put white packet in the tray 9- put white packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put the white packet into the tray 2- put the white packet into the tray 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 into the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please relace the Tiny twists pretzels in the tray with smart 50 popcorn. Q: immediate next step? \u003cPRED\u003eA: put the white packet into the tray\n\u003c/PRED\u003e","video":"1432064690881089700.mp4"}
+{"uid":"2847127227661388893","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please relace the Tiny twists pretzels in the tray with smart 50 popcorn. last 20 steps: 1- put the rold gold packet on the table in a queue 2- put the yellow packet on the table 3- put the rold gold packet on the table in a queue Q: next 5 steps? \u003cPRED\u003eA: 1- put the yellow packet on the table 2- put the packet on the table 3- put the packet on the table 4- put the white packet in the tray in a queue 5- put white 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 yellow packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please relace the Tiny twists pretzels in the tray with smart 50 popcorn. Q: immediate next step? \u003cPRED\u003eA: put the yellow packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the yellow packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the rold gold packet on the table in a queue\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the rold gold packet on the table in a queue\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please relace the Tiny twists pretzels in the tray with smart 50 popcorn. Q: immediate next step? \u003cPRED\u003eA: put the rold gold packet on the table in a queue\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please relace the Tiny twists pretzels in the tray with smart 50 popcorn. last 20 steps: 1- put the rold gold packet on the table in a queue 2- put the yellow packet on the table 3- put the rold gold packet on the table in a queue Q: immediate next step? \u003cPRED\u003eA: put the rold gold packet on the table in a queue\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please relace the Tiny twists pretzels in the tray with smart 50 popcorn. last 20 steps: 1- put the rold gold packet on the table in a queue 2- put the yellow packet on the table 3- put the rold gold packet on the table in a queue Q: immediate next step? \u003cPRED\u003eA: put the yellow packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the rold gold packet on the table in a 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: Please relace the Tiny twists pretzels in the tray with smart 50 popcorn. last 20 steps: 1- put the rold gold packet on the table in a queue 2- put the yellow packet on the table 3- put the rold gold packet on the table in a queue Q: next 5 steps? \u003cPRED\u003eA: 1- put the rold gold packet on the table in a queue 2- put the packet on the table 3- put the packet on the table 4- put the white packet in the tray in a queue 5- put white packet in the tray\n\u003c/PRED\u003e","video":"10617732171801145258.mp4"}
+{"uid":"6593604088945960444","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the rold gold packet on the table in a queue\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the rold gold packet on the table in a 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the rold gold packet on the table in a queue\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please relace the Tiny twists pretzels in the tray with smart 50 popcorn. Q: immediate next step? \u003cPRED\u003eA: put the rold gold packet on the table in a queue\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the white 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\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please relace the Tiny twists pretzels in the tray with smart 50 popcorn. last 20 steps: 1- put the rold gold packet on the table in a queue 2- put the yellow packet on the table Q: immediate next step? \u003cPRED\u003eA: put the rold gold packet on the table in a queue\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please relace the Tiny twists pretzels in the tray with smart 50 popcorn. last 20 steps: 1- put the rold gold packet on the table in a queue 2- put the yellow packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put the rold gold packet on the table in a queue 2- put the packet on the table 3- put the packet on the table 4- put the packet on the table 5- put the white packet in the tray in a queue\n\u003c/PRED\u003e","video":"14708266212132100618.mp4"}
+{"uid":"15262286706450721385","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":"2341851952974610066.mp4"}
+{"uid":"12162323182835829246","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":"6058698902149032620.mp4"}
+{"uid":"17331763392303812156","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the brown packet inside 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 snacks into the large white bowl, and put the forks back into the black cup. Q: immediate next step? \u003cPRED\u003eA: Place the brown packet inside the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the brown packet inside the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- Place the fork inside the holder 2- Place the fork inside the holder 3- Place the fork inside the holder 4- Place the fork inside the holder 5- put the packet in the bowl 6- Place the white packet inside the bowl 7- Place the orange packet inside the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Place the brown packet inside the bowl 2- Place the white packet inside the bowl 3- Place the brown packet inside the bowl 4- Place the black packet inside the bowl 5- Place the white packet inside the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- Place the fork inside the holder 2- Place the fork inside the holder 3- Place the fork inside the holder 4- Place the fork inside the holder 5- put the packet in the bowl 6- Place the white packet inside the bowl 7- Place the orange packet inside the bowl Q: immediate next step? \u003cPRED\u003eA: Place the brown packet inside the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the brown packet inside 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 brown packet inside the bowl\n\u003c/PRED\u003e","video":"14621048507931199670.mp4"}
+{"uid":"5604610689308284116","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":"8970467887721314977.mp4"}
+{"uid":"5133112677193451519","text":"\u003ctask:success:discrete:True\u003e\nPlace the fork inside 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 fork inside the holder\n\u003c/PRED\u003e","video":"17595137429415255083.mp4"}
+{"uid":"7898482256161037698","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput banana peel  in 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":"1485007005578980233.mp4"}
+{"uid":"2815229583365708723","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the fork inside 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: Place the fork inside the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the fork inside 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 snacks into the large white bowl, and put the forks back into the black cup. Q: immediate next step? \u003cPRED\u003eA: Place the fork inside the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the fork inside the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Place the fork inside the holder 2- Place the fork inside the holder 3- Place the fork inside the holder 4- Place the fork inside the holder 5- put the packet in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Place the fork inside the holder\n\u003c/PRED\u003e","video":"15294217526622614802.mp4"}
+{"uid":"13458656164036911128","text":"\u003ctask:success:discrete:False\u003e\nput packet 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- Place the fork inside the holder 2- Place the fork inside the holder 3- Place the fork inside the holder 4- Place the fork inside the holder 5- put the packet in the bowl 6- Place the white packet inside the bowl 7- Place the orange packet inside the bowl 8- Place the brown packet inside the bowl Q: immediate next step? \u003cPRED\u003eA: put packet in white bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet in white bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- Place the fork inside the holder 2- Place the fork inside the holder 3- Place the fork inside the holder 4- Place the fork inside the holder 5- put the packet in the bowl 6- Place the white packet inside the bowl 7- Place the orange packet inside the bowl 8- Place the brown packet inside the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put packet in white bowl 2- Place the brown packet inside the bowl 3- Place the black packet inside the bowl 4- Place the white packet inside the bowl 5- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet in white bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet 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:planning:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. Q: immediate next step? \u003cPRED\u003eA: put packet in white bowl\n\u003c/PRED\u003e","video":"13821754517990615632.mp4"}
+{"uid":"9213441814207119908","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- Place the fork inside the holder 2- Place the fork inside the holder 3- Place the fork inside the holder 4- Place the fork inside the holder Q: immediate next step? \u003cPRED\u003eA: put the packet in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the packet in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the 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\u003ctask:planning:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. Q: immediate next step? \u003cPRED\u003eA: put the packet in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- Place the fork inside the holder 2- Place the fork inside the holder 3- Place the fork inside the holder 4- Place the fork inside the holder Q: next 5 steps? \u003cPRED\u003eA: 1- put the packet in the bowl 2- Place the white packet inside the bowl 3- Place the orange packet inside the bowl 4- Place the brown packet inside the bowl 5- Place the white packet inside the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the packet in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the 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","video":"5714467159108477631.mp4"}
+{"uid":"4231005152847863716","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":"14376190476739430388.mp4"}
+{"uid":"1911036601031244578","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npickup a steel scoop kept on the table and place it in 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":"7483989975346809397.mp4"}
+{"uid":"7986372609885061692","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. Q: immediate next step? \u003cPRED\u003eA: put packet in white bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- Place the fork inside the holder 2- Place the fork inside the holder 3- Place the fork inside the holder 4- Place the fork inside the holder 5- put the packet in the bowl 6- Place the white packet inside the bowl 7- Place the orange packet inside the bowl 8- Place the brown packet inside the bowl 9- Place the white packet inside the bowl 10- Place the brown packet inside the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put packet in white bowl 2- Place the white packet inside the bowl 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet in white bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet 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 packet in white bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- Place the fork inside the holder 2- Place the fork inside the holder 3- Place the fork inside the holder 4- Place the fork inside the holder 5- put the packet in the bowl 6- Place the white packet inside the bowl 7- Place the orange packet inside the bowl 8- Place the brown packet inside the bowl 9- Place the white packet inside the bowl 10- Place the brown packet inside the bowl Q: immediate next step? \u003cPRED\u003eA: put packet in white bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput packet 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","video":"13964858893111416507.mp4"}
+{"uid":"12919180615473969679","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet in white bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- Place the fork inside the holder 2- Place the fork inside the holder 3- Place the fork inside the holder 4- Place the fork inside the holder 5- put the packet in the bowl Q: immediate next step? \u003cPRED\u003eA: put packet in white bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- Place the fork inside the holder 2- Place the fork inside the holder 3- Place the fork inside the holder 4- Place the fork inside the holder 5- put the packet in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put packet in white bowl 2- Place the orange packet inside the bowl 3- Place the brown packet inside the bowl 4- Place the white packet inside the bowl 5- Place the brown packet inside the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet in white bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. Q: immediate next step? \u003cPRED\u003eA: put packet in white bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet 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":"2084346949627100582.mp4"}
+{"uid":"10238334840248031468","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":"6763571398214485592.mp4"}
+{"uid":"2132178695024043086","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the white packet inside the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the white packet inside 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 snacks into the large white bowl, and put the forks back into the black cup. Q: immediate next step? \u003cPRED\u003eA: Place the white packet inside the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the white packet inside 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 snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- Place the fork inside the holder 2- Place the fork inside the holder 3- Place the fork inside the holder 4- Place the fork inside the holder 5- put the packet in the bowl 6- Place the white packet inside the bowl 7- Place the orange packet inside the bowl 8- Place the brown packet inside the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Place the white packet inside the bowl 2- Place the brown packet inside the bowl 3- Place the black packet inside the bowl 4- Place the white packet inside the bowl 5- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the white packet inside the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- Place the fork inside the holder 2- Place the fork inside the holder 3- Place the fork inside the holder 4- Place the fork inside the holder 5- put the packet in the bowl 6- Place the white packet inside the bowl 7- Place the orange packet inside the bowl 8- Place the brown packet inside the bowl Q: immediate next step? \u003cPRED\u003eA: Place the white packet inside the bowl\n\u003c/PRED\u003e","video":"4742124746420292215.mp4"}
+{"uid":"7769849741540739378","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the 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:planning:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. Q: immediate next step? \u003cPRED\u003eA: put the packet in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- Place the fork inside the holder 2- Place the fork inside the holder 3- Place the fork inside the holder 4- Place the fork inside the holder 5- put the packet in the bowl 6- Place the white packet inside the bowl 7- Place the orange packet inside the bowl Q: immediate next step? \u003cPRED\u003eA: put the packet in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the packet in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- Place the fork inside the holder 2- Place the fork inside the holder 3- Place the fork inside the holder 4- Place the fork inside the holder 5- put the packet in the bowl 6- Place the white packet inside the bowl 7- Place the orange packet inside the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the packet in the bowl 2- Place the white packet inside the bowl 3- Place the brown packet inside the bowl 4- Place the black packet inside the bowl 5- Place the white packet inside the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the packet in the bowl\n\u003c/PRED\u003e","video":"8416040728136030922.mp4"}
+{"uid":"9838335028773178445","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":"3727796890278591742.mp4"}
+{"uid":"8090281245475547759","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the packet in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. Q: immediate next step? \u003cPRED\u003eA: put the packet in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the 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 snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- Place the fork inside the holder 2- Place the fork inside the holder 3- Place the fork inside the holder 4- Place the fork inside the holder 5- put the packet in the bowl 6- Place the white packet inside the bowl 7- Place the orange packet inside the bowl 8- Place the brown packet inside the bowl 9- Place the white packet inside the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the packet in the bowl 2- Place the black packet inside the bowl 3- Place the white packet inside the bowl 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- Place the fork inside the holder 2- Place the fork inside the holder 3- Place the fork inside the holder 4- Place the fork inside the holder 5- put the packet in the bowl 6- Place the white packet inside the bowl 7- Place the orange packet inside the bowl 8- Place the brown packet inside the bowl 9- Place the white packet inside the bowl Q: immediate next step? \u003cPRED\u003eA: put the packet in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the packet in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the 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":"17368335744052494055.mp4"}
+{"uid":"4417739207737463821","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":"6150429185083874126.mp4"}
+{"uid":"8209705414127405167","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- Place the fork inside the holder 2- Place the fork inside the holder Q: next 5 steps? \u003cPRED\u003eA: 1- put the plastic fork in the holder 2- Place the fork inside the holder 3- put the packet in the bowl 4- Place the white packet inside the bowl 5- Place the orange packet inside the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- Place the fork inside the holder 2- Place the fork inside the holder Q: immediate next step? \u003cPRED\u003eA: put the plastic fork in the holder\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 holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the plastic fork 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: put the plastic fork in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. Q: immediate next step? \u003cPRED\u003eA: put the plastic fork in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the plastic fork 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":"3397267672241397080.mp4"}
+{"uid":"11215672563907700522","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":"16229262471601875992.mp4"}
+{"uid":"7932998239004587778","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet in white bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- Place the fork inside the holder 2- Place the fork inside the holder 3- Place the fork inside the holder 4- Place the fork inside the holder 5- put the packet in the bowl 6- Place the white packet inside the bowl Q: immediate next step? \u003cPRED\u003eA: put packet in white bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. Q: immediate next step? \u003cPRED\u003eA: put packet in white bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput packet 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet in white bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- Place the fork inside the holder 2- Place the fork inside the holder 3- Place the fork inside the holder 4- Place the fork inside the holder 5- put the packet in the bowl 6- Place the white packet inside the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put packet in white bowl 2- Place the brown packet inside the bowl 3- Place the white packet inside the bowl 4- Place the brown packet inside the bowl 5- Place the black packet inside the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet 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":"12785767458180610174.mp4"}
+{"uid":"1884218395734651358","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- Place the fork inside the holder 2- Place the fork inside the holder Q: next 5 steps? \u003cPRED\u003eA: 1- put fork in holder 2- Place the fork inside the holder 3- put the packet in the bowl 4- Place the white packet inside the bowl 5- Place the orange packet inside the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put fork in holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput fork 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: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- Place the fork inside the holder 2- Place the fork inside the holder Q: immediate next step? \u003cPRED\u003eA: put fork in holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput fork 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:planning:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. Q: immediate next step? \u003cPRED\u003eA: put fork in holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put fork in holder\n\u003c/PRED\u003e","video":"5688421356445830550.mp4"}
+{"uid":"3451300156814383476","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. Q: immediate next step? \u003cPRED\u003eA: put the packet in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the packet in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- Place the fork inside the holder 2- Place the fork inside the holder 3- Place the fork inside the holder 4- Place the fork inside the holder 5- put the packet in the bowl 6- Place the white packet inside the bowl 7- Place the orange packet inside the bowl 8- Place the brown packet inside the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the packet in the bowl 2- Place the brown packet inside the bowl 3- Place the black packet inside the bowl 4- Place the white packet inside the bowl 5- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- Place the fork inside the holder 2- Place the fork inside the holder 3- Place the fork inside the holder 4- Place the fork inside the holder 5- put the packet in the bowl 6- Place the white packet inside the bowl 7- Place the orange packet inside the bowl 8- Place the brown packet inside the bowl Q: immediate next step? \u003cPRED\u003eA: put the packet in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the 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\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the packet in the bowl\n\u003c/PRED\u003e","video":"17426500131215782332.mp4"}
+{"uid":"16752836846898293271","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove 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":"3748717789146368205.mp4"}
+{"uid":"5040705668182312410","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the packet in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. Q: immediate next step? \u003cPRED\u003eA: put the packet in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the packet in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- Place the fork inside the holder 2- Place the fork inside the holder 3- Place the fork inside the holder 4- Place the fork inside the holder 5- put the packet in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the packet in the bowl 2- Place the orange packet inside the bowl 3- Place the brown packet inside the bowl 4- Place the white packet inside the bowl 5- Place the brown packet inside the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- Place the fork inside the holder 2- Place the fork inside the holder 3- Place the fork inside the holder 4- Place the fork inside the holder 5- put the packet in the bowl Q: immediate next step? \u003cPRED\u003eA: put the packet in the bowl\n\u003c/PRED\u003e","video":"871072222042000505.mp4"}
+{"uid":"11905570582897215672","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":"14019767153639367307.mp4"}
+{"uid":"14594002195867205443","text":"\u003ctask:success:discrete:True\u003e\nput fork 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 fork in holder\n\u003c/PRED\u003e","video":"12457715482866814314.mp4"}
+{"uid":"14349231543578274983","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. Q: immediate next step? \u003cPRED\u003eA: put fork in holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- Place the fork inside the holder 2- Place the fork inside the holder 3- Place the fork inside the holder Q: immediate next step? \u003cPRED\u003eA: put fork in holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put fork in holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput fork 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 fork in holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput fork 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: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- Place the fork inside the holder 2- Place the fork inside the holder 3- Place the fork inside the holder Q: next 5 steps? \u003cPRED\u003eA: 1- put fork in holder 2- put the packet in the bowl 3- Place the white packet inside the bowl 4- Place the orange packet inside the bowl 5- Place the brown packet inside the bowl\n\u003c/PRED\u003e","video":"11780485622462298018.mp4"}
+{"uid":"10084726277745080762","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the orange packet inside the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- Place the fork inside the holder 2- Place the fork inside the holder 3- Place the fork inside the holder 4- Place the fork inside the holder 5- put the packet in the bowl 6- Place the white packet inside the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Place the orange packet inside the bowl 2- Place the brown packet inside the bowl 3- Place the white packet inside the bowl 4- Place the brown packet inside the bowl 5- Place the black packet inside the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the orange packet inside the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the orange packet inside 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 snacks into the large white bowl, and put the forks back into the black cup. Q: immediate next step? \u003cPRED\u003eA: Place the orange packet inside the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the orange packet inside 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 snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- Place the fork inside the holder 2- Place the fork inside the holder 3- Place the fork inside the holder 4- Place the fork inside the holder 5- put the packet in the bowl 6- Place the white packet inside the bowl Q: immediate next step? \u003cPRED\u003eA: Place the orange packet inside the bowl\n\u003c/PRED\u003e","video":"13401036455698129742.mp4"}
+{"uid":"11681146704264746588","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put the plastic fork in the holder\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 holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the plastic fork in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put the plastic fork in the holder 2- Place the fork inside the holder 3- Place the fork inside the holder 4- Place the fork inside the holder 5- put the packet in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. Q: immediate next step? \u003cPRED\u003eA: put the plastic fork in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the plastic fork 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:success:discrete:False\u003e\nput the plastic fork 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":"1557418838908391976.mp4"}
+{"uid":"429261274276116992","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- Place the fork inside the holder 2- Place the fork inside the holder 3- Place the fork inside the holder 4- Place the fork inside the holder 5- put the packet in the bowl 6- Place the white packet inside the bowl 7- Place the orange packet inside the bowl 8- Place the brown packet inside the bowl 9- Place the white packet inside the bowl 10- Place the brown packet inside the bowl 11- Place the black packet inside the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put packet in white bowl 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- Place the fork inside the holder 2- Place the fork inside the holder 3- Place the fork inside the holder 4- Place the fork inside the holder 5- put the packet in the bowl 6- Place the white packet inside the bowl 7- Place the orange packet inside the bowl 8- Place the brown packet inside the bowl 9- Place the white packet inside the bowl 10- Place the brown packet inside the bowl 11- Place the black packet inside the bowl Q: immediate next step? \u003cPRED\u003eA: put packet in white bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet in white bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. Q: immediate next step? \u003cPRED\u003eA: put packet in white bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet 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 packet in white bowl\n\u003c/PRED\u003e","video":"15625715998761248329.mp4"}
+{"uid":"12096782457966578934","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput a green 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":"9493710864152656052.mp4"}
+{"uid":"11123080649779440304","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":"6315147880334512321.mp4"}
+{"uid":"3396289859126738092","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- Place the fork inside the holder 2- Place the fork inside the holder 3- Place the fork inside the holder 4- Place the fork inside the holder 5- put the packet in the bowl 6- Place the white packet inside the bowl 7- Place the orange packet inside the bowl 8- Place the brown packet inside the bowl 9- Place the white packet inside the bowl 10- Place the brown packet inside the bowl 11- Place the black packet inside the bowl Q: immediate next step? \u003cPRED\u003eA: put the packet in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- Place the fork inside the holder 2- Place the fork inside the holder 3- Place the fork inside the holder 4- Place the fork inside the holder 5- put the packet in the bowl 6- Place the white packet inside the bowl 7- Place the orange packet inside the bowl 8- Place the brown packet inside the bowl 9- Place the white packet inside the bowl 10- Place the brown packet inside the bowl 11- Place the black packet inside the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the packet 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 packet in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the packet in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. Q: immediate next step? \u003cPRED\u003eA: put the packet in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the 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","video":"2435419304489390927.mp4"}
+{"uid":"8540251868656906176","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. Q: immediate next step? \u003cPRED\u003eA: put the plastic fork in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the plastic fork in the holder\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 holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- Place the fork inside the holder 2- Place the fork inside the holder 3- Place the fork inside the holder Q: immediate next step? \u003cPRED\u003eA: put the plastic fork in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the plastic fork 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:success:discrete:False\u003e\nput the plastic fork 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 snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- Place the fork inside the holder 2- Place the fork inside the holder 3- Place the fork inside the holder Q: next 5 steps? \u003cPRED\u003eA: 1- put the plastic fork in the holder 2- put the packet in the bowl 3- Place the white packet inside the bowl 4- Place the orange packet inside the bowl 5- Place the brown packet inside the bowl\n\u003c/PRED\u003e","video":"10400132209036322364.mp4"}
+{"uid":"6794000920668513342","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up 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":"15462933237071253327.mp4"}
+{"uid":"214959959159038840","text":"\u003ctask:success:discrete:False\u003e\nPlace the fork inside 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 fork inside 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: put snacks into the large white bowl, and put the forks back into the black cup. Q: immediate next step? \u003cPRED\u003eA: Place the fork inside the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- Place the fork inside the holder 2- Place the fork inside the holder 3- Place the fork inside the holder Q: next 5 steps? \u003cPRED\u003eA: 1- Place the fork inside the holder 2- put the packet in the bowl 3- Place the white packet inside the bowl 4- Place the orange packet inside the bowl 5- Place the brown packet inside the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- Place the fork inside the holder 2- Place the fork inside the holder 3- Place the fork inside the holder Q: immediate next step? \u003cPRED\u003eA: Place the fork inside the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the fork inside the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the fork inside the holder\n\u003c/PRED\u003e","video":"6088164721438190107.mp4"}
+{"uid":"8108069566686097996","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the plastic fork in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- Place the fork inside the holder Q: next 5 steps? \u003cPRED\u003eA: 1- put the plastic fork in the holder 2- Place the fork inside the holder 3- Place the fork inside the holder 4- put the packet in the bowl 5- Place the white packet inside the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. Q: immediate next step? \u003cPRED\u003eA: put the plastic fork in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the plastic fork 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 plastic fork in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- Place the fork inside the holder Q: immediate next step? \u003cPRED\u003eA: put the plastic fork in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the plastic fork 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":"15686491984400223544.mp4"}
+{"uid":"796963674007239283","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":"309384124445347372.mp4"}
+{"uid":"16656547324390356589","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the fork inside the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the fork inside 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":"17141198010572522429.mp4"}
+{"uid":"14953338156323507232","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":"9267260029004256956.mp4"}
+{"uid":"10993298617355508258","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut 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":"18019621390253473611.mp4"}
+{"uid":"10695263138570819057","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":"3254938933800483117.mp4"}
+{"uid":"5461236331725589556","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nTouch to open 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":"2807588898143487758.mp4"}
+{"uid":"9117334320128920333","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put fork in holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput fork 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":"7415305021300979701.mp4"}
+{"uid":"2573216264032227884","text":"\u003ctask:success:discrete:False\u003e\nput packet 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:affordance:discriminative:discrete:True\u003e\nput packet 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: Place the black packet inside the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- Place the fork inside the holder 2- Place the fork inside the holder 3- Place the fork inside the holder 4- Place the fork inside the holder Q: immediate next step? \u003cPRED\u003eA: Place the black packet inside the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the black packet inside the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the black packet inside 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: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- Place the fork inside the holder 2- Place the fork inside the holder 3- Place the fork inside the holder 4- Place the fork inside the holder Q: next 5 steps? \u003cPRED\u003eA: 1- Place the black packet inside the bowl 2- Place the white packet inside the bowl 3- Place the orange packet inside the bowl 4- Place the brown packet inside the bowl 5- Place the white packet inside the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. Q: immediate next step? \u003cPRED\u003eA: put packet in white bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the black packet inside 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 packet in white bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- Place the fork inside the holder 2- Place the fork inside the holder 3- Place the fork inside the holder 4- Place the fork inside the holder Q: immediate next step? \u003cPRED\u003eA: put packet in white bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. Q: immediate next step? \u003cPRED\u003eA: Place the black packet inside the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet in white bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- Place the fork inside the holder 2- Place the fork inside the holder 3- Place the fork inside the holder 4- Place the fork inside the holder Q: next 5 steps? \u003cPRED\u003eA: 1- put packet in white bowl 2- Place the white packet inside the bowl 3- Place the orange packet inside the bowl 4- Place the brown packet inside the bowl 5- Place the white packet inside the bowl\n\u003c/PRED\u003e","video":"2697736507094563393.mp4"}
+{"uid":"3407685949898043011","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nclose the black pen 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":"15215070611107545985.mp4"}
+{"uid":"15796642277983037363","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":"1966294751378696060.mp4"}
+{"uid":"17496050382456580181","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the sponge Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8300451678012913072.mp4"}
+{"uid":"2566697263259012150","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":"12690690515962449092.mp4"}
+{"uid":"5982242431580895725","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- Place the fork inside the holder 2- Place the fork inside the holder 3- Place the fork inside the holder 4- Place the fork inside the holder 5- put the packet in the bowl 6- Place the white packet inside the bowl Q: immediate next step? \u003cPRED\u003eA: put the packet in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- Place the fork inside the holder 2- Place the fork inside the holder 3- Place the fork inside the holder 4- Place the fork inside the holder 5- put the packet in the bowl 6- Place the white packet inside the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the packet in the bowl 2- Place the brown packet inside the bowl 3- Place the white packet inside the bowl 4- Place the brown packet inside the bowl 5- Place the black packet inside the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the packet in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the packet in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the 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\u003ctask:planning:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. Q: immediate next step? \u003cPRED\u003eA: put the packet in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the 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","video":"5163777770644648693.mp4"}
+{"uid":"1579597228496852838","text":"\u003ctask:success:discrete:False\u003e\nPlace the brown packet inside 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 brown packet inside the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. Q: immediate next step? \u003cPRED\u003eA: Place the brown packet inside the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the brown packet inside 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 snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- Place the fork inside the holder 2- Place the fork inside the holder 3- Place the fork inside the holder 4- Place the fork inside the holder 5- put the packet in the bowl 6- Place the white packet inside the bowl 7- Place the orange packet inside the bowl 8- Place the brown packet inside the bowl 9- Place the white packet inside the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Place the brown packet inside the bowl 2- Place the black packet inside the bowl 3- Place the white packet inside the bowl 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- Place the fork inside the holder 2- Place the fork inside the holder 3- Place the fork inside the holder 4- Place the fork inside the holder 5- put the packet in the bowl 6- Place the white packet inside the bowl 7- Place the orange packet inside the bowl 8- Place the brown packet inside the bowl 9- Place the white packet inside the bowl Q: immediate next step? \u003cPRED\u003eA: Place the brown packet inside the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the brown packet inside the bowl\n\u003c/PRED\u003e","video":"3460475876373321570.mp4"}
+{"uid":"912701150975726586","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":"18373166189066719522.mp4"}
+{"uid":"2995018865793205396","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput clip 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":"16338867553425725122.mp4"}
+{"uid":"8624894031491504996","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pistachio 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\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":"17711023795692881110.mp4"}
+{"uid":"1410287688615322375","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put fork in holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput fork 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 snacks into the large white bowl, and put the forks back into the black cup. Q: immediate next step? \u003cPRED\u003eA: put fork in holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put fork in holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput fork 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: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- Place the fork inside the holder Q: next 5 steps? \u003cPRED\u003eA: 1- put fork in holder 2- Place the fork inside the holder 3- Place the fork inside the holder 4- put the packet in the bowl 5- Place the white packet inside the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- Place the fork inside the holder Q: immediate next step? \u003cPRED\u003eA: put fork in holder\n\u003c/PRED\u003e","video":"2530691156454943091.mp4"}
+{"uid":"3679660326622081763","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the white packet inside the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- Place the fork inside the holder 2- Place the fork inside the holder 3- Place the fork inside the holder 4- Place the fork inside the holder 5- put the packet in the bowl 6- Place the white packet inside the bowl 7- Place the orange packet inside the bowl 8- Place the brown packet inside the bowl 9- Place the white packet inside the bowl 10- Place the brown packet inside the bowl 11- Place the black packet inside the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Place the white packet inside the bowl 2- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the white packet inside 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 snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- Place the fork inside the holder 2- Place the fork inside the holder 3- Place the fork inside the holder 4- Place the fork inside the holder 5- put the packet in the bowl 6- Place the white packet inside the bowl 7- Place the orange packet inside the bowl 8- Place the brown packet inside the bowl 9- Place the white packet inside the bowl 10- Place the brown packet inside the bowl 11- Place the black packet inside the bowl Q: immediate next step? \u003cPRED\u003eA: Place the white packet inside the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the white packet inside the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the white packet inside 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 snacks into the large white bowl, and put the forks back into the black cup. Q: immediate next step? \u003cPRED\u003eA: Place the white packet inside the bowl\n\u003c/PRED\u003e","video":"12410602842500000424.mp4"}
+{"uid":"12826661409721652395","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the plastic fork in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the plastic fork 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":"5339910336005528825.mp4"}
+{"uid":"3548859801503285349","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput fork 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 fork in holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put fork in holder 2- Place the fork inside the holder 3- Place the fork inside the holder 4- Place the fork inside the holder 5- put the packet in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. Q: immediate next step? \u003cPRED\u003eA: put fork in holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put fork in holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put fork in holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput fork 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":"10766435439885646364.mp4"}
+{"uid":"13937999547570053571","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- Place the fork inside the holder 2- Place the fork inside the holder 3- Place the fork inside the holder 4- Place the fork inside the holder 5- put the packet in the bowl 6- Place the white packet inside the bowl 7- Place the orange packet inside the bowl 8- Place the brown packet inside the bowl 9- Place the white packet inside the bowl 10- Place the brown packet inside the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the packet in the bowl 2- Place the white packet inside the bowl 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the packet in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the 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\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the packet in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- Place the fork inside the holder 2- Place the fork inside the holder 3- Place the fork inside the holder 4- Place the fork inside the holder 5- put the packet in the bowl 6- Place the white packet inside the bowl 7- Place the orange packet inside the bowl 8- Place the brown packet inside the bowl 9- Place the white packet inside the bowl 10- Place the brown packet inside the bowl Q: immediate next step? \u003cPRED\u003eA: put the packet in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. Q: immediate next step? \u003cPRED\u003eA: put the packet in the bowl\n\u003c/PRED\u003e","video":"18035634639306349257.mp4"}
+{"uid":"11211774262509537592","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the black packet inside 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 snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- Place the fork inside the holder 2- Place the fork inside the holder 3- Place the fork inside the holder 4- Place the fork inside the holder 5- put the packet in the bowl 6- Place the white packet inside the bowl 7- Place the orange packet inside the bowl 8- Place the brown packet inside the bowl 9- Place the white packet inside the bowl 10- Place the brown packet inside the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Place the black packet inside the bowl 2- Place the white packet inside the bowl 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. Q: immediate next step? \u003cPRED\u003eA: Place the black packet inside the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the black packet inside 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 black packet inside the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- Place the fork inside the holder 2- Place the fork inside the holder 3- Place the fork inside the holder 4- Place the fork inside the holder 5- put the packet in the bowl 6- Place the white packet inside the bowl 7- Place the orange packet inside the bowl 8- Place the brown packet inside the bowl 9- Place the white packet inside the bowl 10- Place the brown packet inside the bowl Q: immediate next step? \u003cPRED\u003eA: Place the black packet inside the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the black packet inside the bowl\n\u003c/PRED\u003e","video":"5470065072244478852.mp4"}
+{"uid":"662561148971817772","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":"7668166815871318365.mp4"}
+{"uid":"3914717276548407150","text":"\u003ctask:success:discrete:False\u003e\nPlace the fork inside 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: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- Place the fork inside the holder 2- Place the fork inside the holder Q: immediate next step? \u003cPRED\u003eA: Place the fork inside the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the fork inside 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: put snacks into the large white bowl, and put the forks back into the black cup. Q: immediate next step? \u003cPRED\u003eA: Place the fork inside the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the fork inside the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the fork inside the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- Place the fork inside the holder 2- Place the fork inside the holder Q: next 5 steps? \u003cPRED\u003eA: 1- Place the fork inside the holder 2- Place the fork inside the holder 3- put the packet in the bowl 4- Place the white packet inside the bowl 5- Place the orange packet inside the bowl\n\u003c/PRED\u003e","video":"1948902994227662954.mp4"}
+{"uid":"12409121353550422863","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":"9119017755502400717.mp4"}
+{"uid":"1421086463295793162","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the seaweed snacks 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":"12408802529507041049.mp4"}
+{"uid":"14080092990537774790","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- Place the fork inside the holder 2- Place the fork inside the holder 3- Place the fork inside the holder 4- Place the fork inside the holder 5- put the packet in the bowl 6- Place the white packet inside the bowl 7- Place the orange packet inside the bowl 8- Place the brown packet inside the bowl 9- Place the white packet inside the bowl Q: immediate next step? \u003cPRED\u003eA: put packet in white bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet in white bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. Q: immediate next step? \u003cPRED\u003eA: put packet in white bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet in white bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- Place the fork inside the holder 2- Place the fork inside the holder 3- Place the fork inside the holder 4- Place the fork inside the holder 5- put the packet in the bowl 6- Place the white packet inside the bowl 7- Place the orange packet inside the bowl 8- Place the brown packet inside the bowl 9- Place the white packet inside the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put packet in white bowl 2- Place the black packet inside the bowl 3- Place the white packet inside the bowl 4- done\n\u003c/PRED\u003e","video":"14871167433627005661.mp4"}
+{"uid":"8727838348041417454","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":"13973595093016033285.mp4"}
+{"uid":"9874446229311589902","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the green 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":"7296166272763977133.mp4"}
+{"uid":"12642282307378644463","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the white packet inside 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 white packet inside the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the white packet inside the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. Q: immediate next step? \u003cPRED\u003eA: Place the white packet inside the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the white packet inside 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 snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- Place the fork inside the holder 2- Place the fork inside the holder 3- Place the fork inside the holder 4- Place the fork inside the holder 5- put the packet in the bowl Q: immediate next step? \u003cPRED\u003eA: Place the white packet inside the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- Place the fork inside the holder 2- Place the fork inside the holder 3- Place the fork inside the holder 4- Place the fork inside the holder 5- put the packet in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Place the white packet inside the bowl 2- Place the orange packet inside the bowl 3- Place the brown packet inside the bowl 4- Place the white packet inside the bowl 5- Place the brown packet inside the bowl\n\u003c/PRED\u003e","video":"15967159561743404264.mp4"}
+{"uid":"3467032677706449660","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- Place the fork inside the holder 2- Place the fork inside the holder 3- Place the fork inside the holder 4- Place the fork inside the holder 5- put the packet in the bowl 6- Place the white packet inside the bowl 7- Place the orange packet inside the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put packet in white bowl 2- Place the white packet inside the bowl 3- Place the brown packet inside the bowl 4- Place the black packet inside the bowl 5- Place the white packet inside the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- Place the fork inside the holder 2- Place the fork inside the holder 3- Place the fork inside the holder 4- Place the fork inside the holder 5- put the packet in the bowl 6- Place the white packet inside the bowl 7- Place the orange packet inside the bowl Q: immediate next step? \u003cPRED\u003eA: put packet in white bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet in white bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet in white bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. Q: immediate next step? \u003cPRED\u003eA: put packet in white bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet 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":"2512618329809768844.mp4"}
+{"uid":"6905672500354925975","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":"8011253278390991495.mp4"}
+{"uid":"17810070098968860601","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nclose the xerox tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2320379616488205459.mp4"}
+{"uid":"16951735251588621775","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":"9978933956199097219.mp4"}
+{"uid":"9624940877018862035","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- Place the fork inside the holder Q: next 5 steps? \u003cPRED\u003eA: 1- Place the fork inside the holder 2- Place the fork inside the holder 3- Place the fork inside the holder 4- put the packet in the bowl 5- Place the white packet inside the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the fork inside the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- Place the fork inside the holder Q: immediate next step? \u003cPRED\u003eA: Place the fork inside the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the fork inside the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. Q: immediate next step? \u003cPRED\u003eA: Place the fork inside the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the fork inside 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 fork inside 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":"13926392094965774050.mp4"}
+{"uid":"17343341787842839418","text":"\u003ctask:success:discrete:True\u003e\nPlace the fork inside 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 fork inside the holder\n\u003c/PRED\u003e","video":"11260272672042191691.mp4"}
+{"uid":"17788427660357033598","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove away from 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":"15839957899671439174.mp4"}
+{"uid":"14348742023435489827","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput 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":"13807996627733150110.mp4"}
+{"uid":"11743889305352796592","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":"16619483064941047364.mp4"}
+{"uid":"14727757958120956978","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":"9165295136702376515.mp4"}
+{"uid":"1794748353362527919","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: press the button\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npress the 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":"9420787980840089495.mp4"}
+{"uid":"2145454122035976990","text":"\u003ctask:success:discrete:True\u003e\nMove to the elevator Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\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 elevator\n\u003c/PRED\u003e","video":"13473687138084017785.mp4"}
+{"uid":"13025912611754744779","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: i need some help opening the elevator door, please go press the elevator button. last 20 steps: 1- move away from the table 2- exit the room 3- Move towards the lift 4- press the control panel of the lift. Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: i need some help opening the elevator door, please go press the elevator button Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: press the control panel of the lift.\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npress the control panel of the lift. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED: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 need some help opening the elevator door, please go press the elevator button. last 20 steps: 1- move away from the table 2- exit the room 3- Move towards the lift 4- press the control panel of the lift. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"7440830595627629242.mp4"}
+{"uid":"2990662803119609103","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":"7318530789030936900.mp4"}
+{"uid":"8842126484075201439","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: i need some help opening the elevator door, please go press the elevator button. last 20 steps: 1- move away from the table 2- exit the room 3- Move towards the lift Q: immediate next step? \u003cPRED\u003eA: press the control panel of the lift.\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: press the control panel of the lift.\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: press the control panel of the lift.\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npress the control panel of the lift. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\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 need some help opening the elevator door, please go press the elevator button Q: immediate next step? \u003cPRED\u003eA: press the control panel of the lift.\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: i need some help opening the elevator door, please go press the elevator button. last 20 steps: 1- move away from the table 2- exit the room 3- Move towards the lift Q: next 5 steps? \u003cPRED\u003eA: 1- press the control panel of the lift. 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npress the control panel of the lift. Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1284727293134990192.mp4"}
+{"uid":"1777139256376223175","text":"\u003ctask:success:discrete:True\u003e\npress the button of the control panel Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: press the button of the control panel\n\u003c/PRED\u003e","video":"17545871292466920336.mp4"}
+{"uid":"1218093395778123762","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: i need some help opening the elevator door, please go press the elevator button Q: immediate next step? \u003cPRED\u003eA: Press the button\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: i need some help opening the elevator door, please go press the elevator button. last 20 steps: 1- move away from the table 2- exit the room 3- Move towards the lift Q: immediate next step? \u003cPRED\u003eA: Press the button\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: i need some help opening the elevator door, please go press the elevator button. last 20 steps: 1- move away from the table 2- exit the room 3- Move towards the lift Q: next 5 steps? \u003cPRED\u003eA: 1- Press the button 2- done\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: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","video":"16959158841332342955.mp4"}
+{"uid":"408022409337651014","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move towards the control panel\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: i need some help opening the elevator door, please go press the elevator button Q: immediate next step? \u003cPRED\u003eA: move towards the control panel\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove towards the control panel Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\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 need some help opening the elevator door, please go press the elevator button. last 20 steps: 1- move away from the table 2- exit the room Q: next 5 steps? \u003cPRED\u003eA: 1- move towards the control panel 2- move away from the control panel. 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove towards the control panel Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\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 control panel\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: i need some help opening the elevator door, please go press the elevator button. last 20 steps: 1- move away from the table 2- exit the room Q: immediate next step? \u003cPRED\u003eA: move towards the control panel\n\u003c/PRED\u003e","video":"5886312766068938611.mp4"}
+{"uid":"537814413224237526","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the egg 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":"14310178245921586648.mp4"}
+{"uid":"8895679083250296670","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: i need some help opening the elevator door, please go press the elevator button. last 20 steps: 1- move away 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \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: i need some help opening the elevator door, please go press the elevator button Q: immediate next step? \u003cPRED\u003eA: exit the room\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: i need some help opening the elevator door, please go press the elevator button. last 20 steps: 1- move away from the table Q: next 5 steps? \u003cPRED\u003eA: 1- exit the room 2- press the button 3- move away from the control panel. 4- done\n\u003c/PRED\u003e","video":"4886894534561313984.mp4"}
+{"uid":"473386503703508963","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move to the lift\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nmove to the lift Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11236220242963495907.mp4"}
+{"uid":"1619014582539826069","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:planning:freeform\u003e\ncurrent goal is: i need some help opening the elevator door, please go press the elevator button 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: i need some help opening the elevator door, please go press the elevator button. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Exit the room 2- press the button 3- move away from the control panel. 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: i need some help opening the elevator door, please go press the elevator button. last 20 steps: none Q: immediate next step? \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: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: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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: i need some help opening the elevator door, please go press the elevator button. last 20 steps: none 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: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: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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: i need some help opening the elevator door, please go press the elevator button. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- move away from the table 2- exit the room 3- Move towards the lift 4- press the button 5- move away from the control panel.\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: i need some help opening the elevator door, please go press the elevator button Q: immediate next step? \u003cPRED\u003eA: Exit the room\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: i need some help opening the elevator door, please go press the elevator button. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: move away from the table\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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: i need some help opening the elevator door, please go press the elevator button. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- move away from the table 2- exit the room 3- Move towards the lift 4- press the button 5- move away from the control panel.\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: i need some help opening the elevator door, please go press the elevator button Q: immediate next step? \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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Exit the room\n\u003c/PRED\u003e","video":"1027333030203258783.mp4"}
+{"uid":"6272524202064536770","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput orange chocolate in 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":"13512973364380751347.mp4"}
+{"uid":"9951986070704698431","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: i need some help opening the elevator door, please go press the elevator button Q: immediate next step? \u003cPRED\u003eA: Move away from the button\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: i need some help opening the elevator door, please go press the elevator button. last 20 steps: 1- move away from the table 2- exit the room 3- Move towards the lift 4- press the button Q: next 5 steps? \u003cPRED\u003eA: 1- Move away from the button 2- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove away from 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:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move away from the button\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move away from the button\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove away from 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: i need some help opening the elevator door, please go press the elevator button. last 20 steps: 1- move away from the table 2- exit the room 3- Move towards the lift 4- press the button Q: immediate next step? \u003cPRED\u003eA: Move away from the button\n\u003c/PRED\u003e","video":"15628954089429085149.mp4"}
+{"uid":"13977502452818263775","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move towards the lift\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: i need some help opening the elevator door, please go press the elevator button. last 20 steps: 1- move away from the table Q: immediate next step? \u003cPRED\u003eA: Move towards the lift\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: i need some help opening the elevator door, please go press the elevator button. last 20 steps: 1- move away from the table Q: next 5 steps? \u003cPRED\u003eA: 1- Move towards the lift 2- move away from the control panel. 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: i need some help opening the elevator door, please go press the elevator button Q: immediate next step? \u003cPRED\u003eA: Move towards the lift\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove towards the lift Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\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 lift\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove towards the lift Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12695674224988618966.mp4"}
+{"uid":"17855063290010831667","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace 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":"11803660180115893136.mp4"}
+{"uid":"2607475814003442430","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: press the button of the control panel\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npress the button of the control panel Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\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 need some help opening the elevator door, please go press the elevator button Q: immediate next step? \u003cPRED\u003eA: press the button of the control panel\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npress the button of the control panel Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\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 need some help opening the elevator door, please go press the elevator button. last 20 steps: 1- move away from the table 2- exit the room 3- Move towards the lift Q: immediate next step? \u003cPRED\u003eA: press the button of the control panel\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: i need some help opening the elevator door, please go press the elevator button. last 20 steps: 1- move away from the table 2- exit the room 3- Move towards the lift Q: next 5 steps? \u003cPRED\u003eA: 1- press the button of the control panel 2- move away from the control panel. 3- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: press the button of the control panel\n\u003c/PRED\u003e","video":"13758184707596379093.mp4"}
+{"uid":"16047980256830817170","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove away from 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":"7670519351385325301.mp4"}
+{"uid":"16007807646174072225","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":"3180830608411333049.mp4"}
+{"uid":"11950085953454820116","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":"6488928393540049427.mp4"}
+{"uid":"8494607983210466663","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: i need some help opening the elevator door, please go press the elevator button. last 20 steps: 1- move away from the table Q: next 5 steps? \u003cPRED\u003eA: 1- Move to the elevator 2- press the button 3- move away from the control panel. 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: i need some help opening the elevator door, please go press the elevator button. last 20 steps: 1- move away from the table Q: immediate next step? \u003cPRED\u003eA: Move to the elevator\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove to the elevator Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\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 elevator\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: i need some help opening the elevator door, please go press the elevator button Q: immediate next step? \u003cPRED\u003eA: Move to the elevator\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove to the elevator Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED: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 elevator\n\u003c/PRED\u003e","video":"9368974129617980989.mp4"}
+{"uid":"6952958209511105320","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:planning:freeform\u003e\ncurrent goal is: i need some help opening the elevator door, please go press the elevator button 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: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: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: i need some help opening the elevator door, please go press the elevator button. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- exit the room 2- Move towards the lift 3- press the button 4- move away from the control panel. 5- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: i need some help opening the elevator door, please go press the elevator button. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: exit the room\n\u003c/PRED\u003e","video":"351041552328159347.mp4"}
+{"uid":"10600402143934044210","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":"13113822314268821756.mp4"}
+{"uid":"17630711142859764343","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace two spoons 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":"13071346908466847972.mp4"}
+{"uid":"2697697407574456013","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the paper glass in the green tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2507795938682537437.mp4"}
+{"uid":"14953483635003753672","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move towards the control panel\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nmove towards the control panel Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"526605776582892846.mp4"}
+{"uid":"600505412083623993","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move away from the control panel.\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: i need some help opening the elevator door, please go press the elevator button. last 20 steps: 1- move away from the table 2- exit the room 3- Move towards the lift 4- press the button Q: next 5 steps? \u003cPRED\u003eA: 1- move away from the control panel. 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: i need some help opening the elevator door, please go press the elevator button. last 20 steps: 1- move away from the table 2- exit the room 3- Move towards the lift 4- press the button Q: immediate next step? \u003cPRED\u003eA: move away from the control panel.\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: i need some help opening the elevator door, please go press the elevator button Q: immediate next step? \u003cPRED\u003eA: move away from the control panel.\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move away from the control panel.\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove away from the control panel. Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\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 control panel. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3420992848314021852.mp4"}
+{"uid":"3527415807128839423","text":"\u003ctask:success:discrete:True\u003e\nPress the 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\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: i need some help opening the elevator door, please go press the elevator button. last 20 steps: 1- move away from the table 2- exit the room 3- Move towards the lift 4- Press the button Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: i need some help opening the elevator door, please go press the elevator button. last 20 steps: 1- move away from the table 2- exit the room 3- Move towards the lift 4- Press the button Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Press the button\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: i need some help opening the elevator door, please go press the elevator button Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"4648038503279011556.mp4"}
+{"uid":"17296700842154628755","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up the knife 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":"16778393731412331748.mp4"}
+{"uid":"9469825640135947046","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":"2020434561199349510.mp4"}
+{"uid":"13654812629925062758","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nMove close to the elevator 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move close to the elevator button\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove close to the elevator 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:planning:freeform\u003e\ncurrent goal is: i need some help opening the elevator door, please go press the elevator button Q: immediate next step? \u003cPRED\u003eA: Move close to the elevator button\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: i need some help opening the elevator door, please go press the elevator button. last 20 steps: 1- move away from the table 2- exit the room Q: next 5 steps? \u003cPRED\u003eA: 1- Move close to the elevator button 2- press the button 3- move away from the control panel. 4- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move close to the elevator button\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: i need some help opening the elevator door, please go press the elevator button. last 20 steps: 1- move away from the table 2- exit the room Q: immediate next step? \u003cPRED\u003eA: Move close to the elevator button\n\u003c/PRED\u003e","video":"10133556334132174345.mp4"}
+{"uid":"968933299628555487","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the cold brew 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":"6514375207385145661.mp4"}
+{"uid":"14633997624122807705","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace 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":"10962870470969666928.mp4"}
+{"uid":"876298442985673808","text":"\u003ctask:success:discrete:True\u003e\nPress the button to open the elevator Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Press the button to open the elevator\n\u003c/PRED\u003e","video":"621462065153899314.mp4"}
+{"uid":"6121552996980846442","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nUplift the 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\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the green candies on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\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 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":"8068722130131517392.mp4"}
+{"uid":"1204321883575919792","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: i need some help opening the elevator door, please go press the elevator button Q: immediate next step? \u003cPRED\u003eA: move to the control panel\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove to the control panel Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\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 control panel Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\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 yellow paper in the desk Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\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 need some help opening the elevator door, please go press the elevator button. last 20 steps: 1- move away from the table 2- exit the room Q: next 5 steps? \u003cPRED\u003eA: 1- move to the control panel 2- press the button 3- move away from the control panel. 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: i need some help opening the elevator door, please go press the elevator button. last 20 steps: 1- move away from the table 2- exit the room Q: immediate next step? \u003cPRED\u003eA: move to the control panel\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move to the control panel\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move to the control panel\n\u003c/PRED\u003e","video":"3949461033500814046.mp4"}
+{"uid":"14353900565848690509","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \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: i need some help opening the elevator door, please go press the elevator button. last 20 steps: 1- move away from the table 2- exit the room Q: next 5 steps? \u003cPRED\u003eA: 1- press the button 2- move away from the control panel. 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: i need some help opening the elevator door, please go press the elevator button. last 20 steps: 1- move away from the table 2- exit the room 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: press the button\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: i need some help opening the elevator door, please go press the elevator button Q: immediate next step? \u003cPRED\u003eA: press the button\n\u003c/PRED\u003e","video":"17187482660789050242.mp4"}
+{"uid":"12393041217152870237","text":"\u003ctask:success:discrete:False\u003e\nmove away from the control panel Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\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 need some help opening the elevator door, please go press the elevator button Q: immediate next step? \u003cPRED\u003eA: move away from the control panel\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move away from the control panel\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: i need some help opening the elevator door, please go press the elevator button. last 20 steps: 1- move away from the table 2- exit the room 3- Move towards the lift 4- press the button Q: immediate next step? \u003cPRED\u003eA: move away from the control panel\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move away from the control panel\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove away from the control panel Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED: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 need some help opening the elevator door, please go press the elevator button. last 20 steps: 1- move away from the table 2- exit the room 3- Move towards the lift 4- press the button Q: next 5 steps? \u003cPRED\u003eA: 1- move away from the control panel 2- done\n\u003c/PRED\u003e","video":"10312466546701110697.mp4"}
+{"uid":"1863038165853626961","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: i need some help opening the elevator door, please go press the elevator button. last 20 steps: 1- move away from the table Q: next 5 steps? \u003cPRED\u003eA: 1- move towards the lift. 2- press the button 3- move away from the control panel. 4- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move towards the lift.\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove towards the lift. Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\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 lift.\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: i need some help opening the elevator door, please go press the elevator button Q: immediate next step? \u003cPRED\u003eA: move towards the lift.\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: i need some help opening the elevator door, please go press the elevator button. last 20 steps: 1- move away from the table Q: immediate next step? \u003cPRED\u003eA: move towards the lift.\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove towards the lift. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"708788259581601732.mp4"}
+{"uid":"2569512862006801093","text":"\u003ctask:success:discrete:True\u003e\nmove towards the lift. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\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 lift.\n\u003c/PRED\u003e","video":"491479642270247632.mp4"}
+{"uid":"10002801634451526138","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: i need some help opening the elevator door, please go press the elevator button 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: i need some help opening the elevator door, please go press the elevator button. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- exit the room. 2- Move towards the lift 3- press the button 4- move away from the control panel. 5- done\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: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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: i need some help opening the elevator door, please go press the elevator button. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: exit the room.\n\u003c/PRED\u003e","video":"9548485113739205383.mp4"}
+{"uid":"12465226854835262545","text":"\u003ctask:success:discrete:False\u003e\nmove to the lift Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\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 lift\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: i need some help opening the elevator door, please go press the elevator button Q: immediate next step? \u003cPRED\u003eA: move to the lift\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: i need some help opening the elevator door, please go press the elevator button. last 20 steps: 1- move away from the table Q: immediate next step? \u003cPRED\u003eA: move to the lift\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove to the lift Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\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 lift\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: i need some help opening the elevator door, please go press the elevator button. last 20 steps: 1- move away from the table Q: next 5 steps? \u003cPRED\u003eA: 1- move to the lift 2- press the button 3- move away from the control panel. 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:False\u003e\ntake the 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":"10782516720140654108.mp4"}
+{"uid":"44917560356919207","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the banana in the utensil Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14265703453084951587.mp4"}
+{"uid":"5316012017525094997","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":"5271482535242204922.mp4"}
+{"uid":"11301365860087755714","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Press the button to open the elevator\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: i need some help opening the elevator door, please go press the elevator button Q: immediate next step? \u003cPRED\u003eA: Press the button to open the elevator\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Press the button to open the elevator\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPress the button to open the elevator Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\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 need some help opening the elevator door, please go press the elevator button. last 20 steps: 1- move away from the table 2- exit the room 3- Move towards the lift Q: immediate next step? \u003cPRED\u003eA: Press the button to open the elevator\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: i need some help opening the elevator door, please go press the elevator button. last 20 steps: 1- move away from the table 2- exit the room 3- Move towards the lift Q: next 5 steps? \u003cPRED\u003eA: 1- Press the button to open the elevator 2- move away from the control panel. 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPress the button to open the elevator Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3498812388662130125.mp4"}
+{"uid":"6022302782598372269","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Move towards the lift\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nMove towards the lift Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5498720903658189280.mp4"}
+{"uid":"12151212723471027526","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nmove towards the lift Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\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 lift Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\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 need some help opening the elevator door, please go press the elevator button. last 20 steps: 1- move away from the table 2- exit the room Q: next 5 steps? \u003cPRED\u003eA: 1- move towards the lift 2- press the button 3- move away from the control panel. 4- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move towards the lift\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: i need some help opening the elevator door, please go press the elevator button. last 20 steps: 1- move away from the table 2- exit the room Q: immediate next step? \u003cPRED\u003eA: move towards the lift\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move towards the lift\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: i need some help opening the elevator door, please go press the elevator button Q: immediate next step? \u003cPRED\u003eA: move towards the lift\n\u003c/PRED\u003e","video":"16781135576847672030.mp4"}
+{"uid":"3196556308668887694","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":"1884920452668797228.mp4"}
+{"uid":"9372406797501247095","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the scoop 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":"16173909790904255180.mp4"}
+{"uid":"15033727287264384575","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":"5731077327956458249.mp4"}
+{"uid":"16220691932711185053","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":"7459144493923836604.mp4"}
+{"uid":"5664416315499676231","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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- Place the nacho packet on the table 2- put orange packet on the table 3- put orange packet on the table 4- Place the nacho packet on the table 5- put popcorn packet on the table 6- put popcorn packet on the table 7- Place the popcorn packet on the table Q: immediate next step? \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\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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- Place the nacho packet on the table 2- put orange packet on the table 3- put orange packet on the table 4- Place the nacho packet on the table 5- put popcorn packet on the table 6- put popcorn packet on the table 7- Place the popcorn packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Place the popcorn 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 the popcorn packet on the table\n\u003c/PRED\u003e","video":"17861410730764989933.mp4"}
+{"uid":"9399181978593974031","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \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: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: none Q: next 5 steps? \u003cPRED\u003eA: 1- put packet on table 2- put orange packet on the table 3- put orange packet on the table 4- Place the nacho packet on the table 5- put 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: 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: none 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","video":"2099589958575969578.mp4"}
+{"uid":"17935675864167604278","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- Place the nacho packet on the table 2- put orange packet on the table 3- put orange packet on the table 4- Place the nacho packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put packet on table 2- put popcorn packet on the table 3- Place the popcorn packet on the table 4- Place the popcorn packet on the table 5- done\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: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: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 the nacho packet on the table 2- put orange packet on the table 3- put orange packet on the table 4- Place the nacho packet on the table Q: immediate next step? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e","video":"4599843662100335030.mp4"}
+{"uid":"17500172854356168842","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":"2185889414054157579.mp4"}
+{"uid":"3221613614885402464","text":"\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 the nacho packet on the table 2- put 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: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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- Place the nacho packet on the table 2- put orange packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put packet on table 2- Place the nacho packet on the table 3- put popcorn packet on the table 4- put popcorn packet on the table 5- 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: put packet on table\n\u003c/PRED\u003e","video":"1911547707419441602.mp4"}
+{"uid":"10578552649129916327","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":"8200495895338417276.mp4"}
+{"uid":"11260522192986836521","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Place the fruits in the bowl Q: immediate next step? \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\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Place the fruits in the bowl. last 20 steps: 1- Put the pear in the bowl 2- Put the pear in the bowl 3- Put the apple in the bowl 4- Put the apple in the bowl 5- Put the pear in the bowl 6- Put the apple in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put the pear in the bowl 2- Put the pear 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 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Place the fruits in the bowl. last 20 steps: 1- Put the pear in the bowl 2- Put the pear in the bowl 3- Put the apple in the bowl 4- Put the apple in the bowl 5- Put the pear in the bowl 6- Put the apple 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","video":"818938180075155313.mp4"}
+{"uid":"2052600021048834469","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput white small 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":"2193402206802118388.mp4"}
+{"uid":"6238404685467804832","text":"\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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Place the fruits in the bowl. last 20 steps: 1- Put the pear in the bowl 2- Put the pear in the bowl 3- Put the apple in the bowl 4- Put the apple in the bowl 5- Put the pear 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: Place the fruits in the bowl. last 20 steps: 1- Put the pear in the bowl 2- Put the pear in the bowl 3- Put the apple in the bowl 4- Put the apple in the bowl 5- Put the pear in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put the apple in the bowl 2- Put the pear in the bowl 3- Put the pear in the bowl 4- Put the apple in the bowl 5- 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\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: Place the fruits in the bowl Q: immediate next step? \u003cPRED\u003eA: Put the apple in the bowl\n\u003c/PRED\u003e","video":"8381447066447339415.mp4"}
+{"uid":"9486533011080581007","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput 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 the nacho packet on the table Q: immediate next step? \u003cPRED\u003eA: put 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 orange packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put 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 nacho packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put orange packet on the table 2- put orange packet on the table 3- Place the nacho packet on the table 4- put popcorn packet on the table 5- put 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: put orange packet on the table\n\u003c/PRED\u003e","video":"13313344301972816977.mp4"}
+{"uid":"15699609450102220437","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put popcorn packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put 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 nacho packet on the table 2- put orange packet on the table 3- put orange packet on the table 4- Place the nacho packet on the table 5- put popcorn packet on the table 6- put popcorn packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put popcorn packet on the table 2- Place the popcorn packet on the table 3- 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: put 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 nacho packet on the table 2- put orange packet on the table 3- put orange packet on the table 4- Place the nacho packet on the table 5- put popcorn packet on the table 6- put popcorn packet on the table Q: immediate next step? \u003cPRED\u003eA: put popcorn packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput 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":"6729474180041601865.mp4"}
+{"uid":"1633472674933917681","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- Place the nacho packet on the table 2- put orange packet on the table 3- put orange packet on the table Q: immediate next step? \u003cPRED\u003eA: put 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 orange packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put 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 nacho packet on the table 2- put orange packet on the table 3- put orange packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put orange packet on the table 2- put popcorn packet on the table 3- put popcorn packet on the table 4- Place the popcorn packet on the table 5- Place the popcorn packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput 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: put orange packet on the table\n\u003c/PRED\u003e","video":"9131061649478178149.mp4"}
+{"uid":"9972988432359472781","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put popcorn packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput 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:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: put popcorn packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put 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 nacho packet on the table 2- put orange packet on the table 3- put orange packet on the table 4- Place the nacho packet on the table 5- put popcorn packet on the table 6- put popcorn packet on the table 7- Place the popcorn packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put popcorn 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 the nacho packet on the table 2- put orange packet on the table 3- put orange packet on the table 4- Place the nacho packet on the table 5- put popcorn packet on the table 6- put popcorn packet on the table 7- Place the popcorn packet on the table Q: immediate next step? \u003cPRED\u003eA: put popcorn packet on the table\n\u003c/PRED\u003e","video":"16854974978268930962.mp4"}
+{"uid":"7908698407615184536","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the fruits 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":"16882921290799189310.mp4"}
+{"uid":"18301468176935014708","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the pen 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":"14447448385866037893.mp4"}
+{"uid":"18095715248926471063","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove the packet forward on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16208040489511011890.mp4"}
+{"uid":"10637163556711294266","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":"10734424653972959356.mp4"}
+{"uid":"17978660941889248226","text":"\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: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- put orange packet on the table 3- put orange packet on the table 4- Place the nacho packet on the table 5- put 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 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: none 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: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: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":"4746009154805249332.mp4"}
+{"uid":"765039768374085097","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":"7573819678017939373.mp4"}
+{"uid":"8140986455592440279","text":"\u003ctask:success:discrete:False\u003e\nput paper bowl on the snack 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please pour me a bowl of cereal. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put paper bowl on the snack machine\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please pour me a bowl of cereal Q: immediate next step? \u003cPRED\u003eA: put paper bowl on the snack machine\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put paper bowl on the snack machine\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput paper bowl on the snack 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 pour me a bowl of cereal. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put paper bowl on the snack machine 2- fill snacks in the paper bowl 3- put paper bowl on the table 4- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put paper bowl on the snack machine\n\u003c/PRED\u003e","video":"3051327429701679135.mp4"}
+{"uid":"5430611428641980385","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":"3632254126347992094.mp4"}
+{"uid":"6998766553329854264","text":"\u003ctask:success:discrete:True\u003e\nfill 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\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: fill snacks in the paper bowl\n\u003c/PRED\u003e","video":"6169020840939460563.mp4"}
+{"uid":"15010900390512036035","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput 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":"11189820486200616812.mp4"}
+{"uid":"8513647828177960521","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":"3108269659519004451.mp4"}
+{"uid":"10270950308832667383","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the white round 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":"12316071032445882150.mp4"}
+{"uid":"5622266677964292599","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove close to 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":"9499434906857081881.mp4"}
+{"uid":"5763401842356084244","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace clips on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5411627283640754673.mp4"}
+{"uid":"1911439986209812064","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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Place the fruits in the bowl. last 20 steps: 1- Put the pear in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put the pear in the bowl 2- Put the apple in the bowl 3- Put the apple in the bowl 4- Put the pear in the bowl 5- Put the apple 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\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Place the fruits in the bowl. last 20 steps: 1- Put the pear 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: Place the fruits 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","video":"10484075668769330662.mp4"}
+{"uid":"7265493863358439732","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":"8957018726635141352.mp4"}
+{"uid":"610501922996860255","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput 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":"9356271129105620578.mp4"}
+{"uid":"10267227088844149946","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up the transparent 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":"18075620132461398033.mp4"}
+{"uid":"6208761585112531638","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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- Place the nacho packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Place the nacho packet on the table 2- put orange packet on the table 3- Place the nacho packet on the table 4- put popcorn packet on the table 5- put 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 nacho 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: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":"6955266110999783375.mp4"}
+{"uid":"17443417209965345565","text":"\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 nacho packet on the table 2- put orange packet on the table 3- put orange packet on the table 4- Place the nacho packet on the table 5- put popcorn packet on the table 6- put popcorn packet on the 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\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 nacho packet on the table 2- put orange packet on the table 3- put orange packet on the table 4- Place the nacho packet on the table 5- put popcorn packet on the table 6- put popcorn packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Place the popcorn packet on the table 2- Place the popcorn 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 the popcorn packet on the table\n\u003c/PRED\u003e","video":"6128971367345951164.mp4"}
+{"uid":"9351154687297724820","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nTake the red bull can out 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":"597192541533972200.mp4"}
+{"uid":"4229111732312795158","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":"13236811388527422798.mp4"}
+{"uid":"10861572231674929043","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please pour me a bowl of cereal. last 20 steps: 1- put paper bowl on the snack machine 2- fill snacks in the paper bowl Q: immediate next step? \u003cPRED\u003eA: put paper bowl on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please pour me a bowl of cereal Q: immediate next step? \u003cPRED\u003eA: put paper bowl on the table\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: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: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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please pour me a bowl of cereal. last 20 steps: 1- put paper bowl on the snack machine 2- fill snacks in the paper bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put paper bowl on the table 2- done\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","video":"15623943347818701147.mp4"}
+{"uid":"10980066895082639432","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put 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 orange packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput 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: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 orange packet on the table 2- put orange packet on the table 3- put orange packet on the table 4- Place the nacho packet on the table 5- put popcorn packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput 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 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: none Q: immediate next step? \u003cPRED\u003eA: put orange packet on the table\n\u003c/PRED\u003e","video":"16345118861011241457.mp4"}
+{"uid":"12508715919044276871","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":"6108245854609818748.mp4"}
+{"uid":"13102970299086898861","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":"9380511448777100853.mp4"}
+{"uid":"12081490588709324371","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- Place the nacho packet on the table 2- put orange packet on the table 3- put orange packet on the table 4- Place the nacho packet on the table 5- put popcorn packet on the table Q: immediate next step? \u003cPRED\u003eA: put 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 nacho packet on the table 2- put orange packet on the table 3- put orange packet on the table 4- Place the nacho packet on the table 5- put popcorn packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put popcorn packet on the table 2- Place the popcorn packet on the table 3- Place the popcorn 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: put popcorn packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put popcorn packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput 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: put popcorn packet on the table\n\u003c/PRED\u003e","video":"8997450006503862313.mp4"}
+{"uid":"6741489408938021224","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: fill snacks in the paper bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nfill 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:affordance:discriminative:discrete:True\u003e\nfill 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: fill snacks in the paper bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please pour me a bowl of cereal Q: immediate next step? \u003cPRED\u003eA: fill snacks in the paper bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please pour me a bowl of cereal. last 20 steps: 1- put paper bowl on the snack machine Q: next 5 steps? \u003cPRED\u003eA: 1- fill snacks in the paper bowl 2- put paper bowl on the table 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please pour me a bowl of cereal. last 20 steps: 1- put paper bowl on the snack machine Q: immediate next step? \u003cPRED\u003eA: fill snacks in the paper bowl\n\u003c/PRED\u003e","video":"11381287132176538294.mp4"}
+{"uid":"12053326012105289970","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput 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 the nacho packet on the table 2- put orange packet on the table Q: immediate next step? \u003cPRED\u003eA: put orange packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put 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 nacho packet on the table 2- put orange packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put orange packet on the table 2- Place the nacho packet on the table 3- put popcorn packet on the table 4- put popcorn packet on the table 5- 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: put 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 orange packet on the table\n\u003c/PRED\u003e","video":"17667134462543309524.mp4"}
+{"uid":"17970026511491816789","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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- Place the nacho packet on the table 2- put orange packet on the table 3- put orange packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Place the nacho packet on the table 2- put popcorn packet on the table 3- put popcorn packet on the table 4- Place the popcorn packet on the table 5- 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 nacho packet on the table 2- put orange packet on the table 3- put 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: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","video":"2671487200709389149.mp4"}
+{"uid":"6157301732729885062","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- Place the nacho packet on the table 2- put orange packet on the table 3- put orange packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put packet on table 2- put popcorn packet on the table 3- put popcorn packet on the table 4- Place the popcorn packet on the table 5- 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 nacho packet on the table 2- put orange packet on the table 3- put orange 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\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: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":"11967191500273920738.mp4"}
+{"uid":"18060820085674675665","text":"\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: 1- Place the nacho packet on the table 2- put orange packet on the table 3- put orange packet on the table 4- Place the nacho packet on the table 5- put popcorn packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put packet on table 2- Place the popcorn packet on the table 3- Place the popcorn 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- Place the nacho packet on the table 2- put orange packet on the table 3- put orange packet on the table 4- Place the nacho packet on the table 5- put popcorn 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","video":"10596908945113205596.mp4"}
+{"uid":"2706004881463481353","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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Place the fruits in the bowl. last 20 steps: 1- Put the pear in the bowl 2- Put the pear in the bowl 3- Put the apple in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put the apple in the bowl 2- Put the pear in the bowl 3- Put the apple in the bowl 4- Put the pear in the bowl 5- Put the pear in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Place the fruits in the 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: Place the fruits in the bowl. last 20 steps: 1- Put the pear in the bowl 2- Put the pear in the bowl 3- Put the apple in the 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: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":"14749752887091867616.mp4"}
+{"uid":"13076735657244506712","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: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 the nacho packet on the table 2- put orange packet on the table 3- put orange packet on the table 4- Place the nacho packet on the table 5- put popcorn packet on the table 6- put popcorn packet on the table 7- Place the popcorn packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put packet on 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: 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 the nacho packet on the table 2- put orange packet on the table 3- put orange packet on the table 4- Place the nacho packet on the table 5- put popcorn packet on the table 6- put popcorn packet on the table 7- Place the popcorn 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","video":"14235261225665634251.mp4"}
+{"uid":"16269746123295685691","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut redbull 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":"14418787707461319767.mp4"}
+{"uid":"17172019285079323012","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Place the fruits in the bowl. last 20 steps: 1- Put the pear in the bowl 2- Put the pear in the bowl 3- Put the apple in the bowl 4- Put the apple in the bowl 5- Put the pear in the bowl 6- Put the apple in the bowl 7- Put the pear in the bowl 8- Put the pear in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put the apple in the bowl 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Place the fruits in the bowl. last 20 steps: 1- Put the pear in the bowl 2- Put the pear in the bowl 3- Put the apple in the bowl 4- Put the apple in the bowl 5- Put the pear in the bowl 6- Put the apple in the bowl 7- Put the pear in the bowl 8- Put the pear in the bowl Q: immediate next step? \u003cPRED\u003eA: Put the apple in the bowl\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: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: Place the fruits in the 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the apple in the bowl\n\u003c/PRED\u003e","video":"274932129761052036.mp4"}
+{"uid":"15382929471413002052","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":"14688464207996601802.mp4"}
+{"uid":"234888854901210890","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nrelease 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":"11654980203347780886.mp4"}
+{"uid":"7505385223874149411","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ngrasp the wipes 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":"9963298250815224002.mp4"}
+{"uid":"9243892351527543291","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 the nacho packet on the table 2- put 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: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 the nacho packet on the table 2- put orange packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Place the nacho packet on the table 2- Place the nacho packet on the table 3- put popcorn packet on the table 4- put popcorn packet on the table 5- Place the popcorn packet on the table\n\u003c/PRED\u003e","video":"14379360421055336297.mp4"}
+{"uid":"4223353117718073619","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- Place the nacho packet on the table 2- put orange packet on the table 3- put orange packet on the table 4- Place the nacho packet on the table 5- put popcorn packet on the table 6- put popcorn packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put packet on table 2- Place the popcorn 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: 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- Place the nacho packet on the table 2- put orange packet on the table 3- put orange packet on the table 4- Place the nacho packet on the table 5- put popcorn packet on the table 6- put popcorn 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","video":"9736372806702434236.mp4"}
+{"uid":"2045694243146550268","text":"\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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- Place the nacho packet on the table 2- put orange packet on the table 3- put orange packet on the table 4- Place the nacho packet on the table 5- put popcorn packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Place the popcorn packet on the table 2- Place the popcorn packet on the table 3- Place the popcorn 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 the nacho packet on the table 2- put orange packet on the table 3- put orange packet on the table 4- Place the nacho packet on the table 5- put popcorn packet on the 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\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","video":"4565500645053680126.mp4"}
+{"uid":"9267608072750839034","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":"14418113247590202914.mp4"}
+{"uid":"13939133771265495934","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- Place the nacho packet on the table 2- put orange packet on the table 3- put orange packet on the table 4- Place the nacho packet on the table Q: immediate next step? \u003cPRED\u003eA: put popcorn packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put 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: put popcorn packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put popcorn packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- Place the nacho packet on the table 2- put orange packet on the table 3- put orange packet on the table 4- Place the nacho packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put popcorn packet on the table 2- put popcorn packet on the table 3- Place the popcorn packet on the table 4- Place the popcorn packet on the table 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput 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":"1961230657955623495.mp4"}
+{"uid":"17029706579319977712","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Place the fruits in the bowl. last 20 steps: 1- Put the pear in the bowl 2- Put the pear in the bowl 3- Put the apple in the bowl 4- Put the apple in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put the pear in the bowl 2- Put the apple in the bowl 3- Put the pear in the bowl 4- Put the pear in the bowl 5- Put the apple in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Place the fruits 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: Place the fruits in the bowl. last 20 steps: 1- Put the pear in the bowl 2- Put the pear in the bowl 3- Put the apple in the bowl 4- Put the apple 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: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","video":"5039845960494950893.mp4"}
+{"uid":"257238407249520382","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":"12791831475748250504.mp4"}
+{"uid":"16779203171048438526","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":"7066946506538249335.mp4"}
+{"uid":"8595174480505686188","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the blue 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":"6306225182777842716.mp4"}
+{"uid":"11124277011014415084","text":"\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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the apple in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Place the fruits in the bowl. last 20 steps: 1- Put the pear in the bowl 2- Put the pear 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 pear in the bowl 4- Put the apple in the bowl 5- Put the pear in the bowl\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: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: Place the fruits in the 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: Place the fruits in the bowl. last 20 steps: 1- Put the pear in the bowl 2- Put the pear in the bowl Q: immediate next step? \u003cPRED\u003eA: Put the apple in the bowl\n\u003c/PRED\u003e","video":"17397684442059030445.mp4"}
+{"uid":"11122517097817548001","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":"8370883214533425784.mp4"}
+{"uid":"7574741630522000573","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":"10547067274089271095.mp4"}
+{"uid":"3766273018027361934","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":"17271349784957500061.mp4"}
+{"uid":"13318958741106721679","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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- Place the nacho packet on the table 2- put orange packet on the table 3- put orange packet on the table 4- Place the nacho packet on the table Q: immediate next step? \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\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- Place the nacho packet on the table 2- put orange packet on the table 3- put orange packet on the table 4- Place the nacho packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Place the popcorn packet on the table 2- put popcorn packet on the table 3- Place the popcorn packet on the table 4- Place the popcorn packet on the table 5- done\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: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","video":"11541440109848457163.mp4"}
+{"uid":"8976017768875922352","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace yellow toffee in 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":"4555149142870397056.mp4"}
+{"uid":"2645847137036678017","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":"10376414385460997060.mp4"}
+{"uid":"3023249818090889093","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: Place the fruits in the bowl. last 20 steps: 1- Put the pear in the bowl 2- Put the pear in the bowl 3- Put the apple in the bowl 4- Put the apple in the bowl 5- Put the pear in the bowl 6- Put the apple in the bowl 7- Put the pear in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put the pear in the bowl 2- Put the apple in the bowl 3- done\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:planning:freeform\u003e\ncurrent goal is: Place the fruits 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: Place the fruits in the bowl. last 20 steps: 1- Put the pear in the bowl 2- Put the pear in the bowl 3- Put the apple in the bowl 4- Put the apple in the bowl 5- Put the pear in the bowl 6- Put the apple in the bowl 7- Put the pear in the bowl Q: immediate next step? \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":"1981595673156364936.mp4"}
+{"uid":"16595708193354226902","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- Place the nacho 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 the nacho packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put packet on table 2- put orange packet on the table 3- Place the nacho packet on the table 4- put popcorn packet on the table 5- put popcorn 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 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: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","video":"11980770094618451246.mp4"}
+{"uid":"2502261237739781906","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the yellow 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":"5231985010526739521.mp4"}
+{"uid":"5819337047941525228","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Place the oatmeal packets in the tray. last 20 steps: 1- Put the packet in the tray 2- Put the packet in the tray 3- Put the packet in the tray 4- Put the packet in the tray 5- Put the packet in the tray 6- Put the packet in the tray 7- Put the packet in the tray 8- Put the packet in the tray 9- Put the packet in the tray Q: immediate next step? \u003cPRED\u003eA: Put the packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Place the oatmeal packets in the tray. Q: immediate next step? \u003cPRED\u003eA: Put the 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 packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Place the oatmeal packets in the tray. last 20 steps: 1- Put the packet in the tray 2- Put the packet in the tray 3- Put the packet in the tray 4- Put the packet in the tray 5- Put the packet in the tray 6- Put the packet in the tray 7- Put the packet in the tray 8- Put the packet in the tray 9- Put the packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Put the packet in the tray 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut 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","video":"1293243441066239019.mp4"}
+{"uid":"6461593099155371357","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Place the oatmeal packets in the tray. last 20 steps: 1- Put the packet in the tray 2- Put the packet in the tray 3- Put the packet in the tray 4- Put the packet in the tray 5- Put the packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Put the packet in the tray 2- Put the packet in the tray 3- Put the packet in the tray 4- Put the packet in the tray 5- Put the packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Place the oatmeal packets in the tray. last 20 steps: 1- Put the packet in the tray 2- Put the packet in the tray 3- Put the packet in the tray 4- Put the packet in the tray 5- Put the packet in the tray Q: immediate next step? \u003cPRED\u003eA: Put the packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut 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: Place the oatmeal packets in the tray. Q: immediate next step? \u003cPRED\u003eA: Put the packet in the tray\n\u003c/PRED\u003e","video":"11583490663598236578.mp4"}
+{"uid":"6089617095019782467","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":"12985505128559445741.mp4"}
+{"uid":"1288511837134324272","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Place the oatmeal packets in the tray. Q: immediate next step? \u003cPRED\u003eA: Put the packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Place the oatmeal packets in the tray. last 20 steps: 1- Put the packet in the tray 2- Put the packet in the tray 3- Put the packet in the tray 4- Put the packet in the tray Q: immediate next step? \u003cPRED\u003eA: Put the packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Place the oatmeal packets in the tray. last 20 steps: 1- Put the packet in the tray 2- Put the packet in the tray 3- Put the packet in the tray 4- Put the packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Put the packet in the tray 2- Put the packet in the tray 3- Put the packet in the tray 4- Put the packet in the tray 5- Put the 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 packet in the tray\n\u003c/PRED\u003e","video":"803301509314673533.mp4"}
+{"uid":"13831087789527304292","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Place the oatmeal packets in the tray. last 20 steps: 1- Put the packet in the tray 2- Put the packet in the tray 3- Put the packet in the tray Q: immediate next step? \u003cPRED\u003eA: Put the packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Place the oatmeal packets in the tray. Q: immediate next step? \u003cPRED\u003eA: Put the 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 packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Place the oatmeal packets in the tray. last 20 steps: 1- Put the packet in the tray 2- Put the packet in the tray 3- Put the packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Put the packet in the tray 2- Put the packet in the tray 3- Put the packet in the tray 4- Put the packet in the tray 5- Put the packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut 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: Put the packet in the tray\n\u003c/PRED\u003e","video":"4632540540667934331.mp4"}
+{"uid":"1428759832364395391","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":"1239339014704603480.mp4"}
+{"uid":"15905542952525945424","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut 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":"18428835081841784504.mp4"}
+{"uid":"3088189616714243669","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":"15924865961700457592.mp4"}
+{"uid":"8830337545379314863","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Place the oatmeal packets in the tray. last 20 steps: 1- Put the packet in the tray Q: immediate next step? \u003cPRED\u003eA: Put the packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Place the oatmeal packets in the tray. Q: immediate next step? \u003cPRED\u003eA: Put the packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the 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 packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up 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\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Place the oatmeal packets in the tray. last 20 steps: 1- Put the packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Put the packet in the tray 2- Put the packet in the tray 3- Put the packet in the tray 4- Put the packet in the tray 5- Put the packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut 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","video":"3812108908479326872.mp4"}
+{"uid":"640605370217931956","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Place the oatmeal packets in the tray. Q: immediate next step? \u003cPRED\u003eA: Put the packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Place the oatmeal packets in the tray. last 20 steps: 1- Put the packet in the tray 2- Put the packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Put the packet in the tray 2- Put the packet in the tray 3- Put the packet in the tray 4- Put the packet in the tray 5- Put the packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the white pebble in the 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\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Place the oatmeal packets in the tray. last 20 steps: 1- Put the packet in the tray 2- Put the packet in the tray Q: immediate next step? \u003cPRED\u003eA: Put the packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut 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: Put the packet in the tray\n\u003c/PRED\u003e","video":"14773634272934436084.mp4"}
+{"uid":"16437390106875725638","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Place the oatmeal packets in the tray. last 20 steps: 1- Put the packet in the tray 2- Put the packet in the tray 3- Put the packet in the tray 4- Put the packet in the tray 5- Put the packet in the tray 6- Put the packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Put the packet in the tray 2- Put the packet in the tray 3- Put the packet in the tray 4- Put the packet in the tray 5- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Place the oatmeal packets in the tray. Q: immediate next step? \u003cPRED\u003eA: Put the 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 packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut 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: Put the packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Place the oatmeal packets in the tray. last 20 steps: 1- Put the packet in the tray 2- Put the packet in the tray 3- Put the packet in the tray 4- Put the packet in the tray 5- Put the packet in the tray 6- Put the packet in the tray Q: immediate next step? \u003cPRED\u003eA: Put the packet in the tray\n\u003c/PRED\u003e","video":"1655524632895693461.mp4"}
+{"uid":"15365871180188951318","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove away from the house 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":"1144073611356691011.mp4"}
+{"uid":"17060145737007636540","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Place the oatmeal packets in the tray. last 20 steps: 1- Put the packet in the tray 2- Put the packet in the tray 3- Put the packet in the tray 4- Put the packet in the tray 5- Put the packet in the tray 6- Put the packet in the tray 7- Put the packet in the tray 8- Put the packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Put the packet in the tray 2- Put the packet in the tray 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Place the oatmeal packets in the tray. last 20 steps: 1- Put the packet in the tray 2- Put the packet in the tray 3- Put the packet in the tray 4- Put the packet in the tray 5- Put the packet in the tray 6- Put the packet in the tray 7- Put the packet in the tray 8- Put the packet in the tray Q: immediate next step? \u003cPRED\u003eA: Put the packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the 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 packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut 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: Place the oatmeal packets in the tray. Q: immediate next step? \u003cPRED\u003eA: Put the packet in the tray\n\u003c/PRED\u003e","video":"14647786331465990796.mp4"}
+{"uid":"15540685211559402","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the battery on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1801687736454530032.mp4"}
+{"uid":"1177285877981732753","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Place the oatmeal packets in the tray. last 20 steps: 1- Put the packet in the tray 2- Put the packet in the tray 3- Put the packet in the tray 4- Put the packet in the tray 5- Put the packet in the tray 6- Put the packet in the tray 7- Put the packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Put the packet in the tray 2- Put the packet in the tray 3- Put the packet in the tray 4- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Place the oatmeal packets in the tray. Q: immediate next step? \u003cPRED\u003eA: Put the 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 packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Place the oatmeal packets in the tray. last 20 steps: 1- Put the packet in the tray 2- Put the packet in the tray 3- Put the packet in the tray 4- Put the packet in the tray 5- Put the packet in the tray 6- Put the packet in the tray 7- Put the packet in the tray Q: immediate next step? \u003cPRED\u003eA: Put the packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the packet in the tray\n\u003c/PRED\u003e","video":"2013495427096272188.mp4"}
+{"uid":"1832607395137849265","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Place the oatmeal packets in the tray. last 20 steps: 1- Put the packet in the tray 2- Put the packet in the tray 3- Put the packet in the tray 4- Put the packet in the tray 5- Put the packet in the tray 6- Put the packet in the tray 7- Put the packet in the tray 8- Put the packet in the tray 9- Put the packet in the tray 10- Put the packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut 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:planning:freeform\u003e\ncurrent goal is: Place the oatmeal packets in the tray. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Place the oatmeal packets in the tray. last 20 steps: 1- Put the packet in the tray 2- Put the packet in the tray 3- Put the packet in the tray 4- Put the packet in the tray 5- Put the packet in the tray 6- Put the packet in the tray 7- Put the packet in the tray 8- Put the packet in the tray 9- Put the packet in the tray 10- Put the 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 the packet in the tray\n\u003c/PRED\u003e","video":"455769662841733513.mp4"}
+{"uid":"15620840902831044839","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Place the oatmeal packets in the tray. Q: immediate next step? \u003cPRED\u003eA: Put the packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Place the oatmeal packets in the tray. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Put the packet in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Place the oatmeal packets in the tray. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Put the packet in the tray 2- Put the packet in the tray 3- Put the packet in the tray 4- Put the packet in the tray 5- Put the 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 packet in the tray\n\u003c/PRED\u003e","video":"4773745478354198644.mp4"}
+{"uid":"679053999538423792","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":"3566014956158466399.mp4"}
+{"uid":"14176083139367976181","text":"\u003ctask:success:discrete:True\u003e\nPick up the plastic 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 plastic cup\n\u003c/PRED\u003e","video":"8652474789750785962.mp4"}
+{"uid":"14394010779603562796","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the cup on the table upside down\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the cup on the table 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: get the cups from the bin and put it in one neat stack on the desk. last 20 steps: 1- pick the glass Q: immediate next step? \u003cPRED\u003eA: place the cup on the table upside down\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up the cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: get the cups from the bin and put it in one neat stack on the desk. Q: immediate next step? \u003cPRED\u003eA: place the cup on the table upside down\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick up 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: get the cups from the bin and put it in one neat stack on the desk. last 20 steps: 1- pick the glass Q: next 5 steps? \u003cPRED\u003eA: 1- place the cup on the table upside down 2- stack the cup upside down 3- Pick up the plastic cup 4- Stack the plastic cup 5- Pick up the plastic cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the cup on the table 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the cup on the table upside down\n\u003c/PRED\u003e","video":"3473867356265436940.mp4"}
+{"uid":"13526385366708600181","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput a cheese stick 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":"7455902137290568286.mp4"}
+{"uid":"14910434487092642770","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick the black 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":"12079577260517582547.mp4"}
+{"uid":"5586481913414194558","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":"5677532343060281832.mp4"}
+{"uid":"8024331553971906528","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace 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":"8222952412597221034.mp4"}
+{"uid":"12304212253755296793","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: get the cups from the bin and put it in one neat stack on the desk. 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: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\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: get the cups from the bin and put it in one neat stack on the desk. last 20 steps: 1- pick the glass 2- Put the plastic cup on table 3- Pick up the plastic cup 4- stack the cup upside down 5- Pick up the plastic cup 6- Stack the plastic cup 7- Pick up the plastic cup 8- Stack the plastic cup Q: immediate next step? \u003cPRED\u003eA: pick up the cup\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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: get the cups from the bin and put it in one neat stack on the desk. last 20 steps: 1- pick the glass 2- Put the plastic cup on table 3- Pick up the plastic cup 4- stack the cup upside down 5- Pick up the plastic cup 6- Stack the plastic cup 7- Pick up the plastic cup 8- Stack the plastic cup Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the cup 2- Pick up the plastic cup 3- Stack the plastic cup 4- Pick up the plastic cup 5- Stack the plastic cup\n\u003c/PRED\u003e","video":"11091461757043967016.mp4"}
+{"uid":"3112156831261642247","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: get the cups from the bin and put it in one neat stack on the desk. last 20 steps: 1- pick the glass 2- Put the plastic cup on table 3- Pick up the plastic cup 4- stack the cup upside down 5- Pick up the plastic cup 6- Stack the plastic cup 7- Pick up the plastic cup 8- Stack the plastic cup 9- Pick up the plastic cup 10- stack glass on the table 11- Pick up the plastic cup 12- Stack the plastic cup Q: immediate next step? \u003cPRED\u003eA: stack the glass on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: get the cups from the bin and put it in one neat stack on the desk. last 20 steps: 1- pick the glass 2- Put the plastic cup on table 3- Pick up the plastic cup 4- stack the cup upside down 5- Pick up the plastic cup 6- Stack the plastic cup 7- Pick up the plastic cup 8- Stack the plastic cup 9- Pick up the plastic cup 10- stack glass on the table 11- Pick up the plastic cup 12- Stack the plastic cup Q: next 5 steps? \u003cPRED\u003eA: 1- stack the glass on the table 2- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nstack 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:discriminative:discrete:True\u003e\nstack 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:planning:freeform\u003e\ncurrent goal is: get the cups from the bin and put it in one neat stack on the desk. Q: immediate next step? \u003cPRED\u003eA: stack the glass on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: stack the glass on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: stack the glass on the table\n\u003c/PRED\u003e","video":"11122583135414127995.mp4"}
+{"uid":"4104558354746680586","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nLift the left scissors 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":"11209391476674686941.mp4"}
+{"uid":"7788382365767366487","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the chocolate stone 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":"13077627009205805664.mp4"}
+{"uid":"7779188821734014724","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: get the cups from the bin and put it in one neat stack on the desk. last 20 steps: 1- pick the glass 2- Put the plastic cup on table 3- Pick up the plastic cup 4- stack the cup upside down 5- Pick up the plastic cup 6- Stack the plastic cup Q: immediate next step? \u003cPRED\u003eA: Pick up the plastic cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: get the cups from the bin and put it in one neat stack on the desk. Q: immediate next step? \u003cPRED\u003eA: Pick up the plastic cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: get the cups from the bin and put it in one neat stack on the desk. last 20 steps: 1- pick the glass 2- Put the plastic cup on table 3- Pick up the plastic cup 4- stack the cup upside down 5- Pick up the plastic cup 6- Stack the plastic cup Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the plastic cup 2- Stack the plastic cup 3- Pick up the plastic cup 4- stack glass on the table 5- 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the plastic cup\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":"12463519214943801887.mp4"}
+{"uid":"9501790074956112165","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Stack the plastic cup\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nStack the plastic 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":"3508206130844080844.mp4"}
+{"uid":"4122859801443577154","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the blue pens into 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":"8750020369574440624.mp4"}
+{"uid":"4994436439696085971","text":"\u003ctask:success:discrete:True\u003e\nstack 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: stack the glass on the table\n\u003c/PRED\u003e","video":"9493735836850900556.mp4"}
+{"uid":"10541540722481032275","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\npick 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: get the cups from the bin and put it in one neat stack on the desk. last 20 steps: 1- pick the glass 2- Put the plastic cup on table 3- Pick up the plastic cup 4- stack the cup upside down 5- Pick up the plastic cup 6- Stack the plastic cup 7- Pick up the plastic cup 8- Stack the plastic cup Q: immediate next step? \u003cPRED\u003eA: pick the glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: get the cups from the bin and put it in one neat stack on the desk. last 20 steps: 1- pick the glass 2- Put the plastic cup on table 3- Pick up the plastic cup 4- stack the cup upside down 5- Pick up the plastic cup 6- Stack the plastic cup 7- Pick up the plastic cup 8- Stack the plastic cup Q: next 5 steps? \u003cPRED\u003eA: 1- pick the glass 2- stack glass on the table 3- Pick up the plastic cup 4- Stack the plastic cup 5- 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 the glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: get the cups from the bin and put it in one neat stack on the desk. Q: immediate next step? \u003cPRED\u003eA: pick the glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick 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":"3637485575180490493.mp4"}
+{"uid":"1955828486746621223","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace red packet in the black 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":"1065428303970476488.mp4"}
+{"uid":"6152885064105632233","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: stack glass on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nstack 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":"1846915680180414583.mp4"}
+{"uid":"10964907979172443232","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: get the cups from the bin and put it in one neat stack on the desk. last 20 steps: 1- pick the glass 2- Put the plastic cup on table 3- Pick up the plastic cup 4- stack the cup upside down 5- Pick up the plastic cup 6- Stack the plastic cup Q: immediate next step? \u003cPRED\u003eA: stack glass on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: stack glass on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: stack glass on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: get the cups from the bin and put it in one neat stack on the desk. Q: immediate next step? \u003cPRED\u003eA: stack glass on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nstack 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: get the cups from the bin and put it in one neat stack on the desk. last 20 steps: 1- pick the glass 2- Put the plastic cup on table 3- Pick up the plastic cup 4- stack the cup upside down 5- Pick up the plastic cup 6- Stack the plastic cup Q: next 5 steps? \u003cPRED\u003eA: 1- stack glass on the table 2- stack glass on the table 3- Pick up the plastic cup 4- Stack the plastic cup 5- Pick up the plastic cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nstack 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":"11152199015595290060.mp4"}
+{"uid":"16701656659718120308","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nstack the 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: get the cups from the bin and put it in one neat stack on the desk. last 20 steps: 1- pick the glass 2- Put the plastic cup on table 3- Pick up the plastic cup 4- stack the cup upside down 5- Pick up the plastic cup 6- Stack the plastic cup 7- Pick up the plastic cup 8- Stack the plastic cup 9- Pick up the plastic cup 10- stack glass on the table 11- Pick up the plastic cup Q: next 5 steps? \u003cPRED\u003eA: 1- stack the glass upside down 2- Stack the plastic cup 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: stack the glass upside down\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: get the cups from the bin and put it in one neat stack on the desk. last 20 steps: 1- pick the glass 2- Put the plastic cup on table 3- Pick up the plastic cup 4- stack the cup upside down 5- Pick up the plastic cup 6- Stack the plastic cup 7- Pick up the plastic cup 8- Stack the plastic cup 9- Pick up the plastic cup 10- stack glass on the table 11- Pick up the plastic cup Q: immediate next step? \u003cPRED\u003eA: stack the glass upside down\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: stack the glass upside down\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nstack the 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:planning:freeform\u003e\ncurrent goal is: get the cups from the bin and put it in one neat stack on the desk. Q: immediate next step? \u003cPRED\u003eA: stack the glass upside down\n\u003c/PRED\u003e","video":"10718772422577633529.mp4"}
+{"uid":"134549562762789169","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: stack the glass upside down\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nstack the glass upside down Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4831651756501067878.mp4"}
+{"uid":"16244966817698771358","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: get the cups from the bin and put it in one neat stack on the desk. last 20 steps: 1- pick the glass 2- Put the plastic cup on table 3- Pick up the plastic cup Q: immediate next step? \u003cPRED\u003eA: stack the cup upside down\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: get the cups from the bin and put it in one neat stack on the desk. Q: immediate next step? \u003cPRED\u003eA: stack the cup upside down\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nstack the cup 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: get the cups from the bin and put it in one neat stack on the desk. last 20 steps: 1- pick the glass 2- Put the plastic cup on table 3- Pick up the plastic cup Q: next 5 steps? \u003cPRED\u003eA: 1- stack the cup upside down 2- Pick up the plastic cup 3- Stack the plastic cup 4- Pick up the plastic cup 5- Stack the plastic cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nstack the cup 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: stack the cup upside down\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: stack the cup upside down\n\u003c/PRED\u003e","video":"9688900875254414052.mp4"}
+{"uid":"3147962030155601840","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":"7098679784230147519.mp4"}
+{"uid":"10416892636298993153","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: get the cups from the bin and put it in one neat stack on the desk. last 20 steps: 1- pick the glass 2- Put the plastic cup on table 3- Pick up the plastic cup 4- stack the cup upside down 5- Pick up the plastic cup 6- Stack the plastic cup 7- Pick up the plastic cup 8- Stack the plastic cup 9- Pick up the plastic cup Q: immediate next step? \u003cPRED\u003eA: stack glass on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nstack 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:planning:freeform\u003e\ncurrent goal is: get the cups from the bin and put it in one neat stack on the desk. Q: immediate next step? \u003cPRED\u003eA: stack glass on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: stack glass on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: stack glass on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: get the cups from the bin and put it in one neat stack on the desk. last 20 steps: 1- pick the glass 2- Put the plastic cup on table 3- Pick up the plastic cup 4- stack the cup upside down 5- Pick up the plastic cup 6- Stack the plastic cup 7- Pick up the plastic cup 8- Stack the plastic cup 9- Pick up the plastic cup Q: next 5 steps? \u003cPRED\u003eA: 1- stack glass on the table 2- Pick up the plastic cup 3- Stack the plastic cup 4- Pick up the plastic cup 5- Stack the plastic cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nstack 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":"14478588247999740773.mp4"}
+{"uid":"7173558298533634093","text":"\u003ctask:success:discrete:True\u003e\nplace the cup on the table upside down Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\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 on the table upside down\n\u003c/PRED\u003e","video":"5536267972167062786.mp4"}
+{"uid":"703552155944570452","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up the cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: stack the glass upside down\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: get the cups from the bin and put it in one neat stack on the desk. last 20 steps: 1- pick the glass 2- Put the plastic cup on table 3- Pick up the plastic cup 4- stack the cup upside down 5- Pick up the plastic cup 6- Stack the plastic cup 7- Pick up the plastic cup 8- Stack the plastic cup 9- Pick up the plastic cup Q: immediate next step? \u003cPRED\u003eA: stack the glass upside down\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nstack the 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: get the cups from the bin and put it in one neat stack on the desk. last 20 steps: 1- pick the glass 2- Put the plastic cup on table 3- Pick up the plastic cup 4- stack the cup upside down 5- Pick up the plastic cup 6- Stack the plastic cup 7- Pick up the plastic cup 8- Stack the plastic cup 9- Pick up the plastic cup Q: next 5 steps? \u003cPRED\u003eA: 1- stack the glass upside down 2- Pick up the plastic cup 3- Stack the plastic cup 4- Pick up the plastic cup 5- Stack the plastic cup\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick up 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:affordance:discriminative:discrete:True\u003e\nstack the 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: stack the glass upside down\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: get the cups from the bin and put it in one neat stack on the desk. Q: immediate next step? \u003cPRED\u003eA: stack the glass upside down\n\u003c/PRED\u003e","video":"7326909157087994254.mp4"}
+{"uid":"5880868680236271662","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the blue bag in the iron tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12298017289632922962.mp4"}
+{"uid":"2991616234034017022","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace a 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":"16888610888998176268.mp4"}
+{"uid":"4135256204262846528","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: stack the cup upside down\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nstack the cup upside down Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4114315398543590337.mp4"}
+{"uid":"14479035007437475620","text":"\u003ctask:success:discrete:True\u003e\npick 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 the glass\n\u003c/PRED\u003e","video":"14322572433310027718.mp4"}
+{"uid":"11083195304382288712","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up the cup\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick up 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":"2367921252409121529.mp4"}
+{"uid":"15015982479156256612","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: get the cups from the bin and put it in one neat stack on the desk. 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the plastic cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: get the cups from the bin and put it in one neat stack on the desk. last 20 steps: 1- pick the glass 2- Put the plastic cup on table 3- Pick up the plastic cup 4- stack the cup upside down 5- Pick up the plastic cup 6- Stack the plastic cup 7- Pick up the plastic cup 8- Stack the plastic cup 9- Pick up the plastic cup 10- stack glass on the table 11- Pick up the plastic cup 12- Stack the plastic cup Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the plastic cup 2- Stack the plastic cup 3- done\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: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\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: get the cups from the bin and put it in one neat stack on the desk. last 20 steps: 1- pick the glass 2- Put the plastic cup on table 3- Pick up the plastic cup 4- stack the cup upside down 5- Pick up the plastic cup 6- Stack the plastic cup 7- Pick up the plastic cup 8- Stack the plastic cup 9- Pick up the plastic cup 10- stack glass on the table 11- Pick up the plastic cup 12- Stack the plastic cup Q: immediate next step? \u003cPRED\u003eA: Pick up the plastic cup\n\u003c/PRED\u003e","video":"14908520643051711267.mp4"}
+{"uid":"9950994894833547556","text":"\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: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\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: get the cups from the bin and put it in one neat stack on the desk. last 20 steps: none Q: immediate next step? \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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: get the cups from the bin and put it in one neat stack on the desk. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the plastic cup 2- Put the plastic cup on table 3- Pick up the plastic cup 4- stack the cup upside down 5- Pick up the plastic cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: get the cups from the bin and put it in one neat stack on the desk. Q: immediate next step? \u003cPRED\u003eA: Pick up the plastic cup\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","video":"1622393115726159225.mp4"}
+{"uid":"4011517123341950047","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: get the cups from the bin and put it in one neat stack on the desk. last 20 steps: 1- pick the glass 2- Put the plastic cup on table 3- Pick up the plastic cup 4- stack the cup upside down Q: next 5 steps? \u003cPRED\u003eA: 1- stack the glass on the table 2- Pick up the plastic cup 3- Stack the plastic cup 4- Pick up the plastic cup 5- stack glass on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nstack 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: stack the glass on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: get the cups from the bin and put it in one neat stack on the desk. Q: immediate next step? \u003cPRED\u003eA: stack the glass on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: get the cups from the bin and put it in one neat stack on the desk. last 20 steps: 1- pick the glass 2- Put the plastic cup on table 3- Pick up the plastic cup 4- stack the cup upside down Q: immediate next step? \u003cPRED\u003eA: stack the glass on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nstack 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: stack the glass on the table\n\u003c/PRED\u003e","video":"6847212486662226937.mp4"}
+{"uid":"6817226652774427125","text":"\u003ctask:success:discrete:True\u003e\nstack the glass upside down Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\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 glass upside down\n\u003c/PRED\u003e","video":"5732293045194771547.mp4"}
+{"uid":"12285412363905916061","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nStack 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\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Stack the plastic cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nStack 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: get the cups from the bin and put it in one neat stack on the desk. last 20 steps: 1- pick the glass 2- Put the plastic cup on table 3- Pick up the plastic cup 4- stack the cup upside down 5- Pick up the plastic cup 6- Stack the plastic cup 7- Pick up the plastic cup 8- Stack the plastic cup 9- Pick up the plastic cup Q: immediate next step? \u003cPRED\u003eA: Stack the plastic cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: get the cups from the bin and put it in one neat stack on the desk. last 20 steps: 1- pick the glass 2- Put the plastic cup on table 3- Pick up the plastic cup 4- stack the cup upside down 5- Pick up the plastic cup 6- Stack the plastic cup 7- Pick up the plastic cup 8- Stack the plastic cup 9- Pick up the plastic cup Q: next 5 steps? \u003cPRED\u003eA: 1- Stack the plastic cup 2- Pick up the plastic cup 3- Stack the plastic cup 4- Pick up the plastic cup 5- Stack the plastic cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: get the cups from the bin and put it in one neat stack on the desk. Q: immediate next step? \u003cPRED\u003eA: Stack the plastic cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Stack the plastic cup\n\u003c/PRED\u003e","video":"5744287812662388704.mp4"}
+{"uid":"9401296090289430232","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick the glass\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick 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":"6279664788911622424.mp4"}
+{"uid":"17743350001425408987","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: get the cups from the bin and put it in one neat stack on the desk. Q: immediate next step? \u003cPRED\u003eA: stack the glass upside down\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: get the cups from the bin and put it in one neat stack on the desk. last 20 steps: 1- pick the glass 2- Put the plastic cup on table 3- Pick up the plastic cup 4- stack the cup upside down 5- Pick up the plastic cup 6- Stack the plastic cup 7- Pick up the plastic cup 8- Stack the plastic cup 9- Pick up the plastic cup 10- stack glass on the table 11- Pick up the plastic cup 12- Stack the plastic cup Q: next 5 steps? \u003cPRED\u003eA: 1- stack the glass upside down 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: get the cups from the bin and put it in one neat stack on the desk. last 20 steps: 1- pick the glass 2- Put the plastic cup on table 3- Pick up the plastic cup 4- stack the cup upside down 5- Pick up the plastic cup 6- Stack the plastic cup 7- Pick up the plastic cup 8- Stack the plastic cup 9- Pick up the plastic cup 10- stack glass on the table 11- Pick up the plastic cup 12- Stack the plastic cup Q: immediate next step? \u003cPRED\u003eA: stack the glass upside down\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: stack the glass upside down\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nstack the 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:success:discrete:False\u003e\nstack the 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: stack the glass upside down\n\u003c/PRED\u003e","video":"15539297990192618960.mp4"}
+{"uid":"16483632910642962058","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Pick up the plastic cup\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPick up the plastic 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":"11542326596382276317.mp4"}
+{"uid":"2472397295412267970","text":"\u003ctask:success:discrete:False\u003e\npick 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: get the cups from the bin and put it in one neat stack on the desk. last 20 steps: 1- pick the glass 2- Put the plastic cup on table 3- Pick up the plastic cup 4- stack the cup upside down 5- Pick up the plastic cup 6- Stack the plastic cup 7- Pick up the plastic cup 8- Stack the plastic cup 9- Pick up the plastic cup 10- stack glass on the table Q: next 5 steps? \u003cPRED\u003eA: 1- pick the glass 2- Pick up the plastic cup 3- Stack the plastic cup 4- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: get the cups from the bin and put it in one neat stack on the desk. Q: immediate next step? \u003cPRED\u003eA: pick the glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick 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: get the cups from the bin and put it in one neat stack on the desk. last 20 steps: 1- pick the glass 2- Put the plastic cup on table 3- Pick up the plastic cup 4- stack the cup upside down 5- Pick up the plastic cup 6- Stack the plastic cup 7- Pick up the plastic cup 8- Stack the plastic cup 9- Pick up the plastic cup 10- stack glass on the table Q: immediate next step? \u003cPRED\u003eA: pick the glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the glass\n\u003c/PRED\u003e","video":"1749355143132301325.mp4"}
+{"uid":"4470233666761628169","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":"9271390351839743812.mp4"}
+{"uid":"9316240772242331280","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \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:planning:freeform\u003e\ncurrent goal is: get the cups from the bin and put it in one neat stack on the desk. Q: immediate next step? \u003cPRED\u003eA: pick up the cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: get the cups from the bin and put it in one neat stack on the desk. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the cup 2- Pick up the plastic cup 3- stack the cup upside down 4- Pick up the plastic cup 5- Stack the plastic cup\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\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: get the cups from the bin and put it in one neat stack on the desk. last 20 steps: none Q: immediate next step? \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","video":"2172010655309695633.mp4"}
+{"uid":"11727415299689868218","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: stack the glass on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nstack 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":"16972174585125814202.mp4"}
+{"uid":"15532336361860232234","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: get the cups from the bin and put it in one neat stack on the desk. last 20 steps: 1- pick the glass 2- Put the plastic cup on table 3- Pick up the plastic cup Q: immediate next step? \u003cPRED\u003eA: Stack the plastic cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nStack 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\u003ctask:planning:freeform\u003e\ncurrent goal is: get the cups from the bin and put it in one neat stack on the desk. Q: immediate next step? \u003cPRED\u003eA: Stack the plastic cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Stack the plastic cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: get the cups from the bin and put it in one neat stack on the desk. last 20 steps: 1- pick the glass 2- Put the plastic cup on table 3- Pick up the plastic cup Q: next 5 steps? \u003cPRED\u003eA: 1- Stack the plastic cup 2- Pick up the plastic cup 3- Stack the plastic cup 4- Pick up the plastic cup 5- Stack the plastic cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Stack the plastic cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nStack 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","video":"12801652903285145557.mp4"}
+{"uid":"2036008768031960178","text":"\u003ctask:success:discrete:True\u003e\nPick up the plastic 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 plastic cup\n\u003c/PRED\u003e","video":"14796754384557887655.mp4"}
+{"uid":"9248906233795592833","text":"\u003ctask:success:discrete:False\u003e\nStack 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: get the cups from the bin and put it in one neat stack on the desk. last 20 steps: 1- pick the glass 2- Put the plastic cup on table 3- Pick up the plastic cup 4- stack the cup upside down 5- Pick up the plastic cup 6- Stack the plastic cup 7- Pick up the plastic cup 8- Stack the plastic cup 9- Pick up the plastic cup 10- stack glass on the table 11- Pick up the plastic cup Q: immediate next step? \u003cPRED\u003eA: Stack the plastic cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Stack the plastic cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: get the cups from the bin and put it in one neat stack on the desk. Q: immediate next step? \u003cPRED\u003eA: Stack the plastic cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nStack 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\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Stack the plastic cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: get the cups from the bin and put it in one neat stack on the desk. last 20 steps: 1- pick the glass 2- Put the plastic cup on table 3- Pick up the plastic cup 4- stack the cup upside down 5- Pick up the plastic cup 6- Stack the plastic cup 7- Pick up the plastic cup 8- Stack the plastic cup 9- Pick up the plastic cup 10- stack glass on the table 11- Pick up the plastic cup Q: next 5 steps? \u003cPRED\u003eA: 1- Stack the plastic cup 2- Pick up the plastic cup 3- Stack the plastic cup 4- done\n\u003c/PRED\u003e","video":"15005531810014824968.mp4"}
+{"uid":"15514112881540962143","text":"\u003ctask:success:discrete:False\u003e\nStack 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Stack the plastic cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Stack the plastic cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: get the cups from the bin and put it in one neat stack on the desk. Q: immediate next step? \u003cPRED\u003eA: Stack the plastic cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: get the cups from the bin and put it in one neat stack on the desk. last 20 steps: 1- pick the glass 2- Put the plastic cup on table 3- Pick up the plastic cup 4- stack the cup upside down 5- Pick up the plastic cup Q: next 5 steps? \u003cPRED\u003eA: 1- Stack the plastic cup 2- Pick up the plastic cup 3- Stack the plastic cup 4- Pick up the plastic cup 5- stack glass on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: get the cups from the bin and put it in one neat stack on the desk. last 20 steps: 1- pick the glass 2- Put the plastic cup on table 3- Pick up the plastic cup 4- stack the cup upside down 5- Pick up the plastic cup Q: immediate next step? \u003cPRED\u003eA: Stack the plastic cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nStack 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":"11686535547677406150.mp4"}
+{"uid":"1103403477033094127","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove the book 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":"7947074095850259781.mp4"}
+{"uid":"5089716995600951464","text":"\u003ctask:success:discrete:True\u003e\nPick up the plastic 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 plastic cup\n\u003c/PRED\u003e","video":"1880124956601628381.mp4"}
+{"uid":"18263269450899852481","text":"\u003ctask:success:discrete:True\u003e\nstack 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: stack glass on the table\n\u003c/PRED\u003e","video":"12399178582774728519.mp4"}
+{"uid":"2041025676508569962","text":"\u003ctask:success:discrete:True\u003e\nStack the plastic 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: get the cups from the bin and put it in one neat stack on the desk. last 20 steps: 1- pick the glass 2- Put the plastic cup on table 3- Pick up the plastic cup 4- stack the cup upside down 5- Pick up the plastic cup 6- Stack the plastic cup 7- Pick up the plastic cup 8- Stack the plastic cup 9- Pick up the plastic cup 10- stack glass on the table 11- Pick up the plastic cup 12- Stack the plastic cup 13- Pick up the plastic cup 14- Stack the plastic cup Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: get the cups from the bin and put it in one neat stack on the desk. last 20 steps: 1- pick the glass 2- Put the plastic cup on table 3- Pick up the plastic cup 4- stack the cup upside down 5- Pick up the plastic cup 6- Stack the plastic cup 7- Pick up the plastic cup 8- Stack the plastic cup 9- Pick up the plastic cup 10- stack glass on the table 11- Pick up the plastic cup 12- Stack the plastic cup 13- Pick up the plastic cup 14- Stack the plastic cup Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Stack the plastic cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: get the cups from the bin and put it in one neat stack on the desk. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"14060171736391317458.mp4"}
+{"uid":"14854564558093168734","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: get the cups from the bin and put it in one neat stack on the desk. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: pick the glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick 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: pick the glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: get the cups from the bin and put it in one neat stack on the desk. Q: immediate next step? \u003cPRED\u003eA: pick the glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: get the cups from the bin and put it in one neat stack on the desk. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- pick the glass 2- Put the plastic cup on table 3- Pick up the plastic cup 4- stack the cup upside down 5- Pick up the plastic cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick 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":"12417402030230490284.mp4"}
+{"uid":"7044092272218667555","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":"11271525967185581262.mp4"}
+{"uid":"659140438383062002","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: get the cups from the bin and put it in one neat stack on the desk. last 20 steps: 1- pick the glass 2- Put the plastic cup on table Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the plastic cup 2- stack the cup upside down 3- Pick up the plastic cup 4- Stack the plastic cup 5- Pick up the plastic cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: get the cups from the bin and put it in one neat stack on the desk. Q: immediate next step? \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\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the plastic cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: get the cups from the bin and put it in one neat stack on the desk. last 20 steps: 1- pick the glass 2- Put the plastic cup on table 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","video":"11716069413506082330.mp4"}
+{"uid":"12535759028738322540","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nArrange 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":"13748636453683274351.mp4"}
+{"uid":"2723405724891539672","text":"\u003ctask:success:discrete:True\u003e\npick up 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: pick up the cup\n\u003c/PRED\u003e","video":"2477640345810051689.mp4"}
+{"uid":"16818244314749020078","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Stack the plastic cup\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nStack the plastic 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":"17907181944322873394.mp4"}
+{"uid":"18290360947479065459","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace 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":"13213825992684836243.mp4"}
+{"uid":"8547810423610821597","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":"1494812258161285195.mp4"}
+{"uid":"13613766142134201813","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: get the cups from the bin and put it in one neat stack on the desk. last 20 steps: 1- pick the glass 2- Put the plastic cup on table 3- Pick up the plastic cup 4- stack the cup upside down Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the plastic cup 2- Stack the plastic cup 3- Pick up the plastic cup 4- Stack the plastic cup 5- Pick up the plastic cup\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: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:planning:freeform\u003e\ncurrent goal is: get the cups from the bin and put it in one neat stack on the desk. Q: immediate next step? \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\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: get the cups from the bin and put it in one neat stack on the desk. last 20 steps: 1- pick the glass 2- Put the plastic cup on table 3- Pick up the plastic cup 4- stack the cup upside down Q: immediate next step? \u003cPRED\u003eA: Pick up the plastic cup\n\u003c/PRED\u003e","video":"7319959428583434800.mp4"}
+{"uid":"1102943987135588998","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: stack the glass on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nstack 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: get the cups from the bin and put it in one neat stack on the desk. last 20 steps: 1- pick the glass 2- Put the plastic cup on table 3- Pick up the plastic cup Q: immediate next step? \u003cPRED\u003eA: stack the glass on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: stack the glass on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nstack 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: get the cups from the bin and put it in one neat stack on the desk. last 20 steps: 1- pick the glass 2- Put the plastic cup on table 3- Pick up the plastic cup Q: next 5 steps? \u003cPRED\u003eA: 1- stack the glass on the table 2- Stack the plastic cup 3- Pick up the plastic cup 4- Stack the plastic cup 5- Pick up the plastic cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: get the cups from the bin and put it in one neat stack on the desk. Q: immediate next step? \u003cPRED\u003eA: stack the glass on the table\n\u003c/PRED\u003e","video":"7566286868474186441.mp4"}
+{"uid":"10397332821653290024","text":"\u003ctask:success:discrete:False\u003e\nstack the 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: stack the glass upside down\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nstack the 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:planning:freeform\u003e\ncurrent goal is: get the cups from the bin and put it in one neat stack on the desk. Q: immediate next step? \u003cPRED\u003eA: stack the glass upside down\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: get the cups from the bin and put it in one neat stack on the desk. last 20 steps: 1- pick the glass 2- Put the plastic cup on table 3- Pick up the plastic cup 4- stack the cup upside down Q: next 5 steps? \u003cPRED\u003eA: 1- stack the glass upside down 2- Pick up the plastic cup 3- Stack the plastic cup 4- Pick up the plastic cup 5- stack glass on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: stack the glass upside down\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: get the cups from the bin and put it in one neat stack on the desk. last 20 steps: 1- pick the glass 2- Put the plastic cup on table 3- Pick up the plastic cup 4- stack the cup upside down Q: immediate next step? \u003cPRED\u003eA: stack the glass upside down\n\u003c/PRED\u003e","video":"2269717607188748496.mp4"}
+{"uid":"15972606837727613580","text":"\u003ctask:success:discrete:True\u003e\npick 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 the glass\n\u003c/PRED\u003e","video":"8030431347704521151.mp4"}
+{"uid":"15027949564679329468","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Stack the plastic cup\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nStack the plastic 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":"17096228881452626907.mp4"}
+{"uid":"3573291472152263723","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the third glass near first Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7731153846822626963.mp4"}
+{"uid":"17955642937339708571","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: get the cups from the bin and put it in one neat stack on the desk. last 20 steps: 1- pick the glass 2- Put the plastic cup on table Q: immediate next step? \u003cPRED\u003eA: pick the glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: get the cups from the bin and put it in one neat stack on the desk. last 20 steps: 1- pick the glass 2- Put the plastic cup on table Q: next 5 steps? \u003cPRED\u003eA: 1- pick the glass 2- stack the cup upside down 3- Pick up the plastic cup 4- Stack the plastic cup 5- Pick up the plastic cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick 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\npick 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: get the cups from the bin and put it in one neat stack on the desk. Q: immediate next step? \u003cPRED\u003eA: pick the glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the glass\n\u003c/PRED\u003e","video":"18056536100829478370.mp4"}
+{"uid":"15808056101960134884","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace 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":"10372658376148404662.mp4"}
+{"uid":"12870519908676585294","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":"3517950865561258130.mp4"}
+{"uid":"16978242869940486759","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: stack the glass on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nstack 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":"4888816796402094417.mp4"}
+{"uid":"4631381886255784623","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":"4460112594418745017.mp4"}
+{"uid":"9750485317632017018","text":"\u003ctask:success:discrete:False\u003e\nStack 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: Stack the plastic cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nStack 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\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Stack the plastic cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: get the cups from the bin and put it in one neat stack on the desk. last 20 steps: 1- pick the glass 2- Put the plastic cup on table 3- Pick up the plastic cup 4- stack the cup upside down 5- Pick up the plastic cup 6- Stack the plastic cup 7- Pick up the plastic cup 8- Stack the plastic cup 9- Pick up the plastic cup 10- stack glass on the table 11- Pick up the plastic cup 12- Stack the plastic cup 13- Pick up the plastic cup Q: next 5 steps? \u003cPRED\u003eA: 1- Stack the plastic cup 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: get the cups from the bin and put it in one neat stack on the desk. Q: immediate next step? \u003cPRED\u003eA: Stack the plastic cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: get the cups from the bin and put it in one neat stack on the desk. last 20 steps: 1- pick the glass 2- Put the plastic cup on table 3- Pick up the plastic cup 4- stack the cup upside down 5- Pick up the plastic cup 6- Stack the plastic cup 7- Pick up the plastic cup 8- Stack the plastic cup 9- Pick up the plastic cup 10- stack glass on the table 11- Pick up the plastic cup 12- Stack the plastic cup 13- Pick up the plastic cup Q: immediate next step? \u003cPRED\u003eA: Stack the plastic cup\n\u003c/PRED\u003e","video":"13617471913724857353.mp4"}
+{"uid":"686839491487523604","text":"\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: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\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: get the cups from the bin and put it in one neat stack on the desk. last 20 steps: 1- pick the glass Q: immediate next step? \u003cPRED\u003eA: put the glass on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: get the cups from the bin and put it in one neat stack on the desk. Q: immediate next step? \u003cPRED\u003eA: put the glass on the table\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: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: get the cups from the bin and put it in one neat stack on the desk. last 20 steps: 1- pick the glass Q: next 5 steps? \u003cPRED\u003eA: 1- put the glass on the table 2- stack the cup upside down 3- Pick up the plastic cup 4- Stack the plastic cup 5- Pick up the plastic cup\n\u003c/PRED\u003e","video":"17905896583014092830.mp4"}
+{"uid":"12947246887103803957","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: get the cups from the bin and put it in one neat stack on the desk. Q: immediate next step? \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:success:discrete:True\u003e\nStack the plastic 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: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\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: get the cups from the bin and put it in one neat stack on the desk. last 20 steps: 1- pick the glass 2- Put the plastic cup on table 3- Pick up the plastic cup 4- stack the cup upside down 5- Pick up the plastic cup 6- Stack the plastic cup 7- Pick up the plastic cup 8- Stack the plastic cup 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:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Stack the plastic cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: get the cups from the bin and put it in one neat stack on the desk. last 20 steps: 1- pick the glass 2- Put the plastic cup on table 3- Pick up the plastic cup 4- stack the cup upside down 5- Pick up the plastic cup 6- Stack the plastic cup 7- Pick up the plastic cup 8- Stack the plastic cup Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the plastic cup 2- stack glass on the table 3- Pick up the plastic cup 4- Stack the plastic cup 5- Pick up the plastic cup\n\u003c/PRED\u003e","video":"5967388650482686853.mp4"}
+{"uid":"10456778677090952118","text":"\u003ctask:success:discrete:True\u003e\nstack the glass upside down Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\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 glass upside down\n\u003c/PRED\u003e","video":"3497493847804823519.mp4"}
+{"uid":"9875187127741092686","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: get the cups from the bin and put it in one neat stack on the desk. last 20 steps: 1- pick the glass 2- Put the plastic cup on table 3- Pick up the plastic cup 4- stack the cup upside down 5- Pick up the plastic cup 6- Stack the plastic cup 7- Pick up the plastic cup Q: next 5 steps? \u003cPRED\u003eA: 1- Stack the plastic cup 2- Pick up the plastic cup 3- stack glass on the table 4- Pick up the plastic cup 5- Stack the plastic cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nStack 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\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Stack the plastic cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: get the cups from the bin and put it in one neat stack on the desk. last 20 steps: 1- pick the glass 2- Put the plastic cup on table 3- Pick up the plastic cup 4- stack the cup upside down 5- Pick up the plastic cup 6- Stack the plastic cup 7- Pick up the plastic cup Q: immediate next step? \u003cPRED\u003eA: Stack the plastic cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nStack 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: Stack the plastic cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: get the cups from the bin and put it in one neat stack on the desk. Q: immediate next step? \u003cPRED\u003eA: Stack the plastic cup\n\u003c/PRED\u003e","video":"17739908191576657405.mp4"}
+{"uid":"12736831438464369247","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":"424462179157295212.mp4"}
+{"uid":"9452604419161586199","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: get the cups from the bin and put it in one neat stack on the desk. last 20 steps: 1- pick the glass 2- Put the plastic cup on table 3- Pick up the plastic cup 4- stack the cup upside down 5- Pick up the plastic cup 6- Stack the plastic cup 7- Pick up the plastic cup 8- Stack the plastic cup 9- Pick up the plastic cup 10- stack glass on the table 11- Pick up the plastic cup 12- Stack the plastic cup 13- stack the glass upside down Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: stack the glass upside down\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nstack the glass upside down Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\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 the cups from the bin and put it in one neat stack on the desk. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: get the cups from the bin and put it in one neat stack on the desk. last 20 steps: 1- pick the glass 2- Put the plastic cup on table 3- Pick up the plastic cup 4- stack the cup upside down 5- Pick up the plastic cup 6- Stack the plastic cup 7- Pick up the plastic cup 8- Stack the plastic cup 9- Pick up the plastic cup 10- stack glass on the table 11- Pick up the plastic cup 12- Stack the plastic cup 13- stack the glass upside down Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"4659058219830651618.mp4"}
+{"uid":"10889574640990383251","text":"\u003ctask:success:discrete:True\u003e\nstack the glass upside down Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\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 glass upside down\n\u003c/PRED\u003e","video":"6736327205391954967.mp4"}
+{"uid":"13152436198645207615","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":"758840612508571769.mp4"}
+{"uid":"10153322210686081687","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the orange 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":"10848009340299940161.mp4"}
+{"uid":"13525329385801502850","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nOpen 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":"14045532638527302291.mp4"}
+{"uid":"1011930065368581540","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace 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":"8117469807197147796.mp4"}
+{"uid":"9391162019487200226","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Pick up the plastic cup\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPick up the plastic 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":"6535777727692433983.mp4"}
+{"uid":"12650013067487639023","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":"18386478682122135454.mp4"}
+{"uid":"3554404330499965526","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the cup\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\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: get the cups from the bin and put it in one neat stack on the desk. last 20 steps: 1- pick the glass 2- Put the plastic cup on table 3- Pick up the plastic cup 4- stack the cup upside down 5- Pick up the plastic cup 6- Stack the plastic cup 7- Pick up the plastic cup 8- Stack the plastic cup 9- Pick up the plastic cup 10- stack glass on the table Q: immediate next step? \u003cPRED\u003eA: pick up the cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: get the cups from the bin and put it in one neat stack on the desk. Q: immediate next step? \u003cPRED\u003eA: pick up the cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: get the cups from the bin and put it in one neat stack on the desk. last 20 steps: 1- pick the glass 2- Put the plastic cup on table 3- Pick up the plastic cup 4- stack the cup upside down 5- Pick up the plastic cup 6- Stack the plastic cup 7- Pick up the plastic cup 8- Stack the plastic cup 9- Pick up the plastic cup 10- stack glass on the table Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the cup 2- Pick up the plastic cup 3- Stack the plastic cup 4- done\n\u003c/PRED\u003e","video":"1753160777789690084.mp4"}
+{"uid":"14703039799486900493","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: get the cups from the bin and put it in one neat stack on the desk. last 20 steps: 1- pick the glass Q: immediate next step? \u003cPRED\u003eA: Put the plastic cup on table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the plastic cup 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 the plastic cup on table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: get the cups from the bin and put it in one neat stack on the desk. Q: immediate next step? \u003cPRED\u003eA: Put the plastic cup on table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the plastic cup on table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: get the cups from the bin and put it in one neat stack on the desk. last 20 steps: 1- pick the glass Q: next 5 steps? \u003cPRED\u003eA: 1- Put the plastic cup on table 2- Pick up the plastic cup 3- stack the cup upside down 4- Pick up the plastic cup 5- Stack the plastic cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the plastic cup 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":"17995948519458471712.mp4"}
+{"uid":"3904161027049010972","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the white box 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":"4173850979074282690.mp4"}
+{"uid":"2268391384269371277","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the blue 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":"930111812291144457.mp4"}
+{"uid":"7041670347771760820","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: get the cups from the bin and put it in one neat stack on the desk. last 20 steps: 1- pick the glass 2- Put the plastic cup on table 3- Pick up the plastic cup 4- stack the cup upside down 5- Pick up the plastic cup 6- Stack the plastic cup 7- Pick up the plastic cup 8- Stack the plastic cup 9- Pick up the plastic cup 10- stack glass on the table 11- Pick up the plastic cup 12- Stack the plastic cup 13- stack the glass on the table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: get the cups from the bin and put it in one neat stack on the desk. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: stack the glass on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: get the cups from the bin and put it in one neat stack on the desk. last 20 steps: 1- pick the glass 2- Put the plastic cup on table 3- Pick up the plastic cup 4- stack the cup upside down 5- Pick up the plastic cup 6- Stack the plastic cup 7- Pick up the plastic cup 8- Stack the plastic cup 9- Pick up the plastic cup 10- stack glass on the table 11- Pick up the plastic cup 12- Stack the plastic cup 13- stack the glass on the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nstack 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":"703956433091443826.mp4"}
+{"uid":"477708040798739941","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":"9455914340361175622.mp4"}
+{"uid":"16352302793202550330","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the paper 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":"4324431102047468170.mp4"}
+{"uid":"6124089422855815134","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: get the cups from the bin and put it in one neat stack on the desk. 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: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\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the cup\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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: get the cups from the bin and put it in one neat stack on the desk. last 20 steps: 1- pick the glass 2- Put the plastic cup on table Q: immediate next step? \u003cPRED\u003eA: pick up the cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: get the cups from the bin and put it in one neat stack on the desk. last 20 steps: 1- pick the glass 2- Put the plastic cup on table Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the cup 2- stack the cup upside down 3- Pick up the plastic cup 4- Stack the plastic cup 5- Pick up the plastic cup\n\u003c/PRED\u003e","video":"15813663749597518079.mp4"}
+{"uid":"603803745016901033","text":"\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\u003ctask:planning:freeform\u003e\ncurrent goal is: get the cups from the bin and put it in one neat stack on the desk. Q: immediate next step? \u003cPRED\u003eA: Pick up the plastic cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: get the cups from the bin and put it in one neat stack on the desk. last 20 steps: 1- pick the glass 2- Put the plastic cup on table 3- Pick up the plastic cup 4- stack the cup upside down 5- Pick up the plastic cup 6- Stack the plastic cup 7- Pick up the plastic cup 8- Stack the plastic cup 9- Pick up the plastic cup 10- stack glass on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the plastic cup 2- Stack the plastic cup 3- Pick up the plastic cup 4- Stack the plastic cup 5- done\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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: get the cups from the bin and put it in one neat stack on the desk. last 20 steps: 1- pick the glass 2- Put the plastic cup on table 3- Pick up the plastic cup 4- stack the cup upside down 5- Pick up the plastic cup 6- Stack the plastic cup 7- Pick up the plastic cup 8- Stack the plastic cup 9- Pick up the plastic cup 10- stack glass on the table Q: immediate next step? \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","video":"2749117360996346112.mp4"}
+{"uid":"14397721179167349586","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the paper cup on the gray table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2692486955682478094.mp4"}
+{"uid":"15273186443946753081","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":"11920864247726137000.mp4"}
+{"uid":"4939161233419923432","text":"\u003ctask:success:discrete:True\u003e\nStack the plastic 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: Stack the plastic cup\n\u003c/PRED\u003e","video":"348486364334865263.mp4"}
+{"uid":"16530045686029174833","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: get the cups from the bin and put it in one neat stack on the desk. Q: immediate next step? \u003cPRED\u003eA: move the arm down\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove the arm 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: get the cups from the bin and put it in one neat stack on the desk. last 20 steps: 1- pick the glass 2- Put the plastic cup on table 3- Pick up the plastic cup Q: immediate next step? \u003cPRED\u003eA: move the arm down\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move the arm down\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: get the cups from the bin and put it in one neat stack on the desk. last 20 steps: 1- pick the glass 2- Put the plastic cup on table 3- Pick up the plastic cup Q: next 5 steps? \u003cPRED\u003eA: 1- move the arm down 2- Pick up the plastic cup 3- Stack the plastic cup 4- Pick up the plastic cup 5- Stack the plastic cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move the arm down\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove the arm 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","video":"3655990860443710255.mp4"}
+{"uid":"8286592521642235675","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace 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":"12711575646963381280.mp4"}
+{"uid":"13304333020342472826","text":"\u003ctask:success:discrete:True\u003e\nPick up the plastic 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 plastic cup\n\u003c/PRED\u003e","video":"86701971994906339.mp4"}
+{"uid":"11834338751455923584","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: get the cups from the bin and put it in one neat stack on the desk. last 20 steps: 1- pick the glass 2- Put the plastic cup on table 3- Pick up the plastic cup 4- stack the cup upside down 5- Pick up the plastic cup 6- Stack the plastic cup Q: next 5 steps? \u003cPRED\u003eA: 1- stack the glass upside down 2- Pick up the plastic cup 3- stack glass on the table 4- Pick up the plastic cup 5- Stack the plastic cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nstack the 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:success:discrete:False\u003e\nstack the 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: stack the glass upside down\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: get the cups from the bin and put it in one neat stack on the desk. last 20 steps: 1- pick the glass 2- Put the plastic cup on table 3- Pick up the plastic cup 4- stack the cup upside down 5- Pick up the plastic cup 6- Stack the plastic cup Q: immediate next step? \u003cPRED\u003eA: stack the glass upside down\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: get the cups from the bin and put it in one neat stack on the desk. Q: immediate next step? \u003cPRED\u003eA: stack the glass upside down\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: stack the glass upside down\n\u003c/PRED\u003e","video":"15802829319138395437.mp4"}
+{"uid":"15172262941118503289","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nstack 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: stack the glass on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: get the cups from the bin and put it in one neat stack on the desk. last 20 steps: 1- pick the glass 2- Put the plastic cup on table 3- Pick up the plastic cup 4- stack the cup upside down 5- Pick up the plastic cup 6- Stack the plastic cup 7- Pick up the plastic cup 8- Stack the plastic cup 9- Pick up the plastic cup 10- stack glass on the table 11- Pick up the plastic cup Q: immediate next step? \u003cPRED\u003eA: stack the glass on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: get the cups from the bin and put it in one neat stack on the desk. Q: immediate next step? \u003cPRED\u003eA: stack the glass on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: get the cups from the bin and put it in one neat stack on the desk. last 20 steps: 1- pick the glass 2- Put the plastic cup on table 3- Pick up the plastic cup 4- stack the cup upside down 5- Pick up the plastic cup 6- Stack the plastic cup 7- Pick up the plastic cup 8- Stack the plastic cup 9- Pick up the plastic cup 10- stack glass on the table 11- Pick up the plastic cup Q: next 5 steps? \u003cPRED\u003eA: 1- stack the glass on the table 2- Stack the plastic cup 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: stack the glass on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nstack 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","video":"9045602910555983142.mp4"}
+{"uid":"17051633506384776918","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":"12817762489235044693.mp4"}
+{"uid":"14659528239660801274","text":"\u003ctask:success:discrete:True\u003e\nPut the plastic cup 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 the plastic cup on table\n\u003c/PRED\u003e","video":"18137628623514700454.mp4"}
+{"uid":"1205312339985154684","text":"\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\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the glass on the table\n\u003c/PRED\u003e","video":"10919074016531482704.mp4"}
+{"uid":"1697081386414802732","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace purple 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":"14993815425035236651.mp4"}
+{"uid":"2198351380186509941","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":"6482586589599783119.mp4"}
+{"uid":"14875121513707389765","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput brown paper 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":"14718339565232521737.mp4"}
+{"uid":"17860472407114766923","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nmove towards 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: move towards the pen holder.\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: sort blue and black pens. Q: immediate next step? \u003cPRED\u003eA: move towards the pen holder.\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: sort blue and black pens. last 20 steps: 1- go to the table. Q: next 5 steps? \u003cPRED\u003eA: 1- move towards the pen holder. 2- pick up a blue pen from the pen holder. 3- place the blue pen in the pen holder. 4- pick up a black pen from the pen holder. 5- place the black pen in the pen holder.\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: sort blue and black pens. last 20 steps: 1- go to the table. Q: immediate next step? \u003cPRED\u003eA: move towards the pen holder.\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove towards 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: move towards the pen holder.\n\u003c/PRED\u003e","video":"1379768932403203679.mp4"}
+{"uid":"9860696827943367575","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the 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 pen in the pen holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: sort blue and black pens. last 20 steps: 1- go to the table. 2- Go to the pen holder 3- pick up a blue pen from the pen holder. Q: immediate next step? \u003cPRED\u003eA: put the pen in the pen holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: sort blue and black pens. last 20 steps: 1- go to the table. 2- Go to the pen holder 3- pick up a blue pen from the pen holder. Q: next 5 steps? \u003cPRED\u003eA: 1- put the pen in the pen holder 2- place the black pen in the pen holder. 3- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the 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: sort blue and black pens. Q: immediate next step? \u003cPRED\u003eA: put the 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 pen in the pen holder\n\u003c/PRED\u003e","video":"13152737159279060427.mp4"}
+{"uid":"10181647769113751348","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Move to the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nMove 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","video":"14208671703295542317.mp4"}
+{"uid":"2643548953720844041","text":"\u003ctask:success:discrete:True\u003e\nmove 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:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move to the table\n\u003c/PRED\u003e","video":"7368517328952220637.mp4"}
+{"uid":"7866073766735593841","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: sort blue and black pens. last 20 steps: 1- go to the table. 2- Go to the pen holder 3- pick up a blue pen from the pen holder. 4- place the blue pen in the pen holder. 5- Pick up the black pen from the pen holder Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPick up the black pen from 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: sort blue and black pens. last 20 steps: 1- go to the table. 2- Go to the pen holder 3- pick up a blue pen from the pen holder. 4- place the blue pen in the pen holder. 5- Pick up the black pen from the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: sort blue and black pens. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Pick up the black pen from the pen holder\n\u003c/PRED\u003e","video":"8249948729325473560.mp4"}
+{"uid":"14142387670011231902","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":"3325615348364630106.mp4"}
+{"uid":"12188816022335706664","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: sort blue and black pens. Q: immediate next step? \u003cPRED\u003eA: Go to the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nGo to 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\nGo to 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: Go to the pen holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: sort blue and black pens. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Go to the pen holder 2- pick up a blue pen from the pen holder. 3- place the blue pen in the pen holder. 4- pick up a black pen from the pen holder. 5- place the black pen in the pen holder.\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: sort blue and black pens. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Go to the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Go to the pen holder\n\u003c/PRED\u003e","video":"7302578693236746509.mp4"}
+{"uid":"7552191741558733347","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the pen in the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the 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: place the pen in the pen holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: sort blue and black pens. last 20 steps: 1- go to the table. 2- Go to the pen holder 3- pick up a blue pen from the pen holder. 4- place the blue pen in the pen holder. 5- pick up a black pen from the pen holder. Q: immediate next step? \u003cPRED\u003eA: place the pen in the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the 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: sort blue and black pens. Q: immediate next step? \u003cPRED\u003eA: place the pen in the pen holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: sort blue and black pens. last 20 steps: 1- go to the table. 2- Go to the pen holder 3- pick up a blue pen from the pen holder. 4- place the blue pen in the pen holder. 5- pick up a black pen from the pen holder. Q: next 5 steps? \u003cPRED\u003eA: 1- place the pen in the pen holder 2- done\n\u003c/PRED\u003e","video":"13513828723836524408.mp4"}
+{"uid":"8005388834153671866","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: go to the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ngo to 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":"12797185735655310839.mp4"}
+{"uid":"8686004793044230698","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: sort blue and black pens. last 20 steps: 1- go to the table. 2- Go to the pen holder 3- pick up a blue pen from the pen holder. Q: next 5 steps? \u003cPRED\u003eA: 1- Put the pen in the holder 2- place the black pen in the pen holder. 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: sort blue and black pens. Q: immediate next step? \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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: sort blue and black pens. last 20 steps: 1- go to the table. 2- Go to the pen holder 3- pick up a blue pen from the pen holder. Q: immediate next step? \u003cPRED\u003eA: Put the pen in the holder\n\u003c/PRED\u003e\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: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: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","video":"8432850449029234327.mp4"}
+{"uid":"18319183439531588599","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":"12860762201855775316.mp4"}
+{"uid":"8350993559677017586","text":"\u003ctask:success:discrete:True\u003e\nmove towards 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: move towards the pen holder.\n\u003c/PRED\u003e","video":"17085294976646892301.mp4"}
+{"uid":"16750821781784267622","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick a black pen from the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick a black pen from 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: sort blue and black pens. Q: immediate next step? \u003cPRED\u003eA: pick a black pen from the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick a black pen from 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: sort blue and black pens. last 20 steps: 1- go to the table. 2- Go to the pen holder 3- pick up a blue pen from the pen holder. 4- place the blue pen in the pen holder. Q: next 5 steps? \u003cPRED\u003eA: 1- pick a black pen from the pen holder 2- place 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: pick a black pen from the pen holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: sort blue and black pens. last 20 steps: 1- go to the table. 2- Go to the pen holder 3- pick up a blue pen from the pen holder. 4- place the blue pen in the pen holder. Q: immediate next step? \u003cPRED\u003eA: pick a black pen from the pen holder\n\u003c/PRED\u003e","video":"13511686503882164281.mp4"}
+{"uid":"1401062614711044277","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nGo to the another 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":"8079956608535651394.mp4"}
+{"uid":"5885805618658858326","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the blue pen 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":"16859677308382741853.mp4"}
+{"uid":"15224722218984956926","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":"14188290045420338378.mp4"}
+{"uid":"4407714370353630079","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: sort blue and black pens. last 20 steps: 1- go to the table. 2- Go to the pen holder 3- pick up a blue pen from the pen holder. 4- place the blue pen in the pen holder. Q: next 5 steps? \u003cPRED\u003eA: 1- place the black pen in the pen holder. 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the black pen in the pen holder.\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: sort blue and black pens. last 20 steps: 1- go to the table. 2- Go to the pen holder 3- pick up a blue pen from the pen holder. 4- place the blue pen in the pen holder. Q: immediate next step? \u003cPRED\u003eA: place the black pen in the pen holder.\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: sort blue and black pens. Q: immediate next step? \u003cPRED\u003eA: place 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: place the black pen in the pen holder.\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace 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","video":"7342957646645336645.mp4"}
+{"uid":"12028909796569519345","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: sort blue and black pens. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the black pen in the pen holder.\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: sort blue and black pens. last 20 steps: 1- go to the table. 2- Go to the pen holder 3- pick up a blue pen from the pen holder. 4- place the blue pen in the pen holder. 5- place the black 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: sort blue and black pens. last 20 steps: 1- go to the table. 2- Go to the pen holder 3- pick up a blue pen from the pen holder. 4- place the blue pen in the pen holder. 5- place the black pen in the pen holder. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace 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","video":"14833714343865073641.mp4"}
+{"uid":"4447225779461295562","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the black pen in the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace 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:planning:freeform\u003e\ncurrent goal is: sort blue and black pens. Q: immediate next step? \u003cPRED\u003eA: Place the black pen in the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: sort blue and black pens. last 20 steps: 1- go to the table. 2- Go to the pen holder 3- pick up a blue pen from the pen holder. 4- place the blue pen in the pen holder. 5- pick up a black pen from the pen holder. Q: immediate next step? \u003cPRED\u003eA: Place 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: Place the black pen in the pen holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: sort blue and black pens. last 20 steps: 1- go to the table. 2- Go to the pen holder 3- pick up a blue pen from the pen holder. 4- place the blue pen in the pen holder. 5- pick up a black pen from the pen holder. Q: next 5 steps? \u003cPRED\u003eA: 1- Place the black pen in the pen holder 2- done\n\u003c/PRED\u003e","video":"8863710020373571980.mp4"}
+{"uid":"159265810769331346","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nGrab the first 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":"404831729163673374.mp4"}
+{"uid":"504367312796472561","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":"10991882934983933505.mp4"}
+{"uid":"9444702064151425783","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop fork 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":"2074851490076965969.mp4"}
+{"uid":"14524951234263746046","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up a blue pen from the pen holder.\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick up a blue pen from 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":"12628543886935171869.mp4"}
+{"uid":"1507999048234095843","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: sort blue and black pens. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: go to the table.\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: go to the table.\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ngo 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: sort blue and black pens. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- go to the table. 2- pick up a blue pen from the pen holder. 3- place the blue pen in the pen holder. 4- pick up a black pen from the pen holder. 5- place the black pen in the pen holder.\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ngo 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: sort blue and black pens. Q: immediate next step? \u003cPRED\u003eA: go to the table.\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: go to the table.\n\u003c/PRED\u003e","video":"10590716949360101865.mp4"}
+{"uid":"4167397612817166068","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput cookie 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":"10059788345227432048.mp4"}
+{"uid":"17942831525459582758","text":"\u003ctask:success:discrete:True\u003e\ngo 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:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: go to the table.\n\u003c/PRED\u003e","video":"15247741484446290532.mp4"}
+{"uid":"11388773201300559078","text":"\u003ctask:success:discrete:True\u003e\npick a blue pen from 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: pick a blue pen from the pen holder\n\u003c/PRED\u003e","video":"17162673911103869435.mp4"}
+{"uid":"17792594681907031891","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up a black pen from the pen holder.\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: sort blue and black pens. Q: immediate next step? \u003cPRED\u003eA: pick up a black pen from the pen holder.\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up a black pen from the pen holder.\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: sort blue and black pens. last 20 steps: 1- go to the table. 2- Go to the pen holder 3- pick up a blue pen from the pen holder. Q: immediate next step? \u003cPRED\u003eA: pick up a black pen from the pen holder.\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up a black pen from 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\npick up a black pen from 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: sort blue and black pens. last 20 steps: 1- go to the table. 2- Go to the pen holder 3- pick up a blue pen from the pen holder. Q: next 5 steps? \u003cPRED\u003eA: 1- pick up a black pen from the pen holder. 2- done\n\u003c/PRED\u003e","video":"4745161064036438335.mp4"}
+{"uid":"18262608896673090511","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: go to the pen holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: sort blue and black pens. last 20 steps: 1- go to the table. Q: immediate next step? \u003cPRED\u003eA: go to the pen holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: sort blue and black pens. Q: immediate next step? \u003cPRED\u003eA: go to the pen holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: sort blue and black pens. last 20 steps: 1- go to the table. Q: next 5 steps? \u003cPRED\u003eA: 1- go to the pen holder 2- pick up a blue pen from the pen holder. 3- place the blue pen in the pen holder. 4- pick up a black pen from the pen holder. 5- place the black pen in the pen holder.\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ngo to 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\ngo to 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: go to the pen holder\n\u003c/PRED\u003e","video":"6903220651181327410.mp4"}
+{"uid":"9641219844909789456","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up a black pen from the pen holder.\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick up a black pen from 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:planning:freeform\u003e\ncurrent goal is: sort blue and black pens. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: sort blue and black pens. last 20 steps: 1- go to the table. 2- Go to the pen holder 3- pick up a blue pen from the pen holder. 4- pick up a black pen from 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: sort blue and black pens. last 20 steps: 1- go to the table. 2- Go to the pen holder 3- pick up a blue pen from the pen holder. 4- pick up a black pen from the pen holder. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"15527102264701173387.mp4"}
+{"uid":"18008128796278230878","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\npick up a blue pen from 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: pick up a blue pen from the pen holder.\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up a blue pen from 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: sort blue and black pens. Q: immediate next step? \u003cPRED\u003eA: pick up a blue pen from the pen holder.\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: sort blue and black pens. last 20 steps: 1- go to the table. 2- Go to the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- pick up a blue pen from the pen holder. 2- pick up a black pen from the pen holder. 3- place the black pen 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: pick up a blue pen from the pen holder.\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: sort blue and black pens. last 20 steps: 1- go to the table. 2- Go to the pen holder Q: immediate next step? \u003cPRED\u003eA: pick up a blue pen from the pen holder.\n\u003c/PRED\u003e","video":"214763629575373251.mp4"}
+{"uid":"4536733073747938480","text":"\u003ctask:success:discrete:True\u003e\npick a black pen from 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: pick a black pen from the pen holder\n\u003c/PRED\u003e","video":"7363236674586324333.mp4"}
+{"uid":"1114920807642544863","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the pen in the pen holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: sort blue and black pens. last 20 steps: 1- go to the table. 2- Go to the pen holder 3- pick up a blue pen from the pen holder. 4- place the blue pen in the pen holder. 5- pick up a black pen from the pen holder. 6- place the pen in the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the 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:planning:freeform\u003e\ncurrent goal is: sort blue and black pens. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: sort blue and black pens. last 20 steps: 1- go to the table. 2- Go to the pen holder 3- pick up a blue pen from the pen holder. 4- place the blue pen in the pen holder. 5- pick up a black pen from the pen holder. 6- place the pen in the pen holder Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"14033474657119285568.mp4"}
+{"uid":"9311219285625074073","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the blue pen in the pen holder.\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace 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":"4972202276024959055.mp4"}
+{"uid":"1928617050666592830","text":"\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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move to the table\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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: sort blue and black pens. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Move to the table 2- Go to the pen holder 3- pick up a blue pen from the pen holder. 4- place the blue pen in the pen holder. 5- pick up a black pen from the pen holder.\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: sort blue and black pens. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Move to the table\n\u003c/PRED\u003e\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:planning:freeform\u003e\ncurrent goal is: sort blue and black pens. Q: immediate next step? \u003cPRED\u003eA: Move to the table\n\u003c/PRED\u003e","video":"8364982844243794706.mp4"}
+{"uid":"13841183869674239824","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput candy 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":"10526068683331927404.mp4"}
+{"uid":"2925488560525001610","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":"17190550900088818571.mp4"}
+{"uid":"6482092428284272282","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":"13707971260402736583.mp4"}
+{"uid":"16247420964962576052","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: sort blue and black pens. Q: immediate next step? \u003cPRED\u003eA: Pick up the blue pen from the pen holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the blue pen from the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the blue pen from 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: Pick up the blue pen from the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the blue pen from 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: sort blue and black pens. last 20 steps: 1- go to the table. 2- Go to the pen holder Q: immediate next step? \u003cPRED\u003eA: Pick up the blue pen from the pen holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: sort blue and black pens. last 20 steps: 1- go to the table. 2- Go to the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the blue pen from the pen holder 2- pick up a black pen from the pen holder. 3- place the black pen in the pen holder. 4- done\n\u003c/PRED\u003e","video":"1570822508412192750.mp4"}
+{"uid":"11146715272092692237","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":"7253152568976418491.mp4"}
+{"uid":"13747587235281782252","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: sort blue and black pens. last 20 steps: 1- go to the table. 2- Go to the pen holder 3- pick up a blue pen from the pen holder. 4- place the blue pen in the pen holder. Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the black pen from the pen holder 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the black pen from the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the black pen from the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the black pen from 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: sort blue and black pens. Q: immediate next step? \u003cPRED\u003eA: Pick up the black pen from the pen holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: sort blue and black pens. last 20 steps: 1- go to the table. 2- Go to the pen holder 3- pick up a blue pen from the pen holder. 4- place the blue pen in the pen holder. Q: immediate next step? \u003cPRED\u003eA: Pick up the black pen from the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the black pen from 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":"5441115525516351010.mp4"}
+{"uid":"1025847274530230870","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move to the table\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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: sort blue and black pens. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: move to the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: sort blue and black pens. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- move to the table 2- Go to the pen holder 3- pick up a blue pen from the pen holder. 4- place the blue pen in the pen holder. 5- pick up a black pen from the pen holder.\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:planning:freeform\u003e\ncurrent goal is: sort blue and black pens. Q: immediate next step? \u003cPRED\u003eA: move to the table\n\u003c/PRED\u003e\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","video":"7657249378715978082.mp4"}
+{"uid":"17628269304854387726","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the cone at 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":"16634011695897218379.mp4"}
+{"uid":"3472729497155025384","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput 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":"18140490169305668440.mp4"}
+{"uid":"9493166637499420234","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\npick a blue pen from 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: pick a blue pen from the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the black pebble in the right 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\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: sort blue and black pens. last 20 steps: 1- go to the table. 2- Go to the pen holder Q: immediate next step? \u003cPRED\u003eA: pick a blue pen from the pen holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: sort blue and black pens. Q: immediate next step? \u003cPRED\u003eA: pick a blue pen from the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick a blue pen from 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: sort blue and black pens. last 20 steps: 1- go to the table. 2- Go to the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- pick a blue pen from the pen holder 2- pick up a black pen from the pen holder. 3- place 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: pick a blue pen from the pen holder\n\u003c/PRED\u003e","video":"12947873527853763740.mp4"}
+{"uid":"14207303178042308590","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the pen in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut 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","video":"11298621024139336361.mp4"}
+{"uid":"5872681079989957353","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Pick up the blue pen from the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPick up the blue pen from 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":"7153912540911178868.mp4"}
+{"uid":"5231132883168721773","text":"\u003ctask:success:discrete:True\u003e\nGo to 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: Go to the pen holder\n\u003c/PRED\u003e","video":"3759672019725755306.mp4"}
+{"uid":"9546125869543362696","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: sort blue and black pens. last 20 steps: 1- go to the table. 2- Go to the pen holder Q: immediate next step? \u003cPRED\u003eA: place the blue pen in the pen holder.\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace 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:planning:freeform\u003e\ncurrent goal is: sort blue and black pens. Q: immediate next step? \u003cPRED\u003eA: place 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: place 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: place the blue pen in the pen holder.\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: sort blue and black pens. last 20 steps: 1- go to the table. 2- Go to the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- place the blue pen in the pen holder. 2- place the black pen in the pen holder. 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace 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","video":"6487904029574807139.mp4"}
+{"uid":"5297819630941463027","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","video":"12150219714265222414.mp4"}
+{"uid":"3730425822121273101","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the brown packet in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the brown packet in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl Q: immediate next step? \u003cPRED\u003eA: put the brown packet in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl. last 20 steps: 1- unstack the bowl 2- unstack the bowl 3- unstack the bowl 4- open the drawer 5- put the orange in the bowl 6- put the orange in the bowl 7- put the orange in the bowl 8- put the orange in the bowl 9- put the blue packet in the bowl 10- put the brown packet in the bowl Q: immediate next step? \u003cPRED\u003eA: put the brown packet in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the brown 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: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl. last 20 steps: 1- unstack the bowl 2- unstack the bowl 3- unstack the bowl 4- open the drawer 5- put the orange in the bowl 6- put the orange in the bowl 7- put the orange in the bowl 8- put the orange in the bowl 9- put the blue packet in the bowl 10- put the brown packet in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the brown packet in the bowl 2- put the white packet in the bowl 3- done\n\u003c/PRED\u003e","video":"4808128258400973165.mp4"}
+{"uid":"3938069977147565738","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nWipe the table with 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":"8625896870776965624.mp4"}
+{"uid":"17430065614503170200","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":"5407880398080899342.mp4"}
+{"uid":"16464694169472870323","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":"3452762603694213979.mp4"}
+{"uid":"16603465573676014027","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: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl. last 20 steps: 1- unstack the bowl 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:planning:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl Q: immediate next step? \u003cPRED\u003eA: unstack the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl. last 20 steps: 1- unstack the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- unstack the bowl 2- open the drawer 3- put the orange in the bowl 4- put the orange in the bowl 5- put the orange 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","video":"702288824942957718.mp4"}
+{"uid":"8174694841149443533","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put fork in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put fork in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please clean up the spilled forks on the table Q: immediate next step? \u003cPRED\u003eA: put fork in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please clean up the spilled forks on the table. last 20 steps: 1- keep the holder upright 2- put fork in the holder 3- put fork in the holder 4- put fork in the holder 5- put fork in the holder 6- put fork in the holder 7- put fork in the holder Q: immediate next step? \u003cPRED\u003eA: put fork in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please clean up the spilled forks on the table. last 20 steps: 1- keep the holder upright 2- put fork in the holder 3- put fork in the holder 4- put fork in the holder 5- put fork in the holder 6- put fork in the holder 7- put fork in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- put fork in the holder 2- put fork in the holder 3- put fork in the holder 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput fork 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":"15924530406551640473.mp4"}
+{"uid":"16375109216634558494","text":"\u003ctask:success:discrete:True\u003e\nput the blue 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 the blue packet in the bowl\n\u003c/PRED\u003e","video":"5912578665952511800.mp4"}
+{"uid":"13004012609505709867","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":"4703348545196837899.mp4"}
+{"uid":"4086412646272506651","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":"2394120540412667685.mp4"}
+{"uid":"17751196734508686721","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":"17413577513584704157.mp4"}
+{"uid":"11820686563687010093","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the chocolate 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":"14592848558734943251.mp4"}
+{"uid":"17818412264267839920","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl Q: immediate next step? \u003cPRED\u003eA: drop the rxbar chocolate into the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the rxbar chocolate 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: drop the rxbar chocolate into the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the rxbar chocolate 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: drop the rxbar chocolate into the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl. last 20 steps: 1- unstack the bowl 2- unstack the bowl 3- unstack the bowl 4- open the drawer 5- put the orange in the bowl 6- put the orange in the bowl 7- put the orange in the bowl 8- put the orange in the bowl 9- put the blue packet in the bowl 10- put the brown packet in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- drop the rxbar chocolate into the bowl 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl. last 20 steps: 1- unstack the bowl 2- unstack the bowl 3- unstack the bowl 4- open the drawer 5- put the orange in the bowl 6- put the orange in the bowl 7- put the orange in the bowl 8- put the orange in the bowl 9- put the blue packet in the bowl 10- put the brown packet in the bowl Q: immediate next step? \u003cPRED\u003eA: drop the rxbar chocolate into the bowl\n\u003c/PRED\u003e","video":"16004497684715221730.mp4"}
+{"uid":"2535514917116474384","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the packet in the empty bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the packet in the empty 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":"9977400913086274122.mp4"}
+{"uid":"14160307908391405619","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":"13171688944531153088.mp4"}
+{"uid":"5663411561325056044","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please make sure all the chars are pushed in at the table Q: immediate next step? \u003cPRED\u003eA: put chair inside the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput chair inside the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\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 chair inside the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\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 sure all the chars are pushed in at the table. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put chair inside the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put chair inside the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please make sure all the chars are pushed in at the table. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put chair inside the table 2- put chair inside the table 3- put chair inside the table 4- put chair inside the table 5- put chair inside the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put chair inside the table\n\u003c/PRED\u003e","video":"14443771703172708206.mp4"}
+{"uid":"5460889316667509376","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl Q: immediate next step? \u003cPRED\u003eA: put the packet in the empty bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the packet in the empty 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: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl. last 20 steps: 1- unstack the bowl 2- unstack the bowl 3- unstack the bowl 4- open the drawer 5- put the orange in the bowl 6- put the orange in the bowl 7- put the orange in the bowl 8- put the orange in the bowl 9- put the blue packet in the bowl 10- put the brown packet in the bowl 11- put the brown packet in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the packet in the empty bowl 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the packet in the empty bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the packet in the empty 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: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl. last 20 steps: 1- unstack the bowl 2- unstack the bowl 3- unstack the bowl 4- open the drawer 5- put the orange in the bowl 6- put the orange in the bowl 7- put the orange in the bowl 8- put the orange in the bowl 9- put the blue packet in the bowl 10- put the brown packet in the bowl 11- put the brown packet in the bowl Q: immediate next step? \u003cPRED\u003eA: put the packet in the empty bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the packet in the empty bowl\n\u003c/PRED\u003e","video":"11541990324191786039.mp4"}
+{"uid":"3901925832011789347","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please clean up the spilled forks on the table. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: keep the holder upright\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nkeep the 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please clean up the spilled forks on the table. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- keep the holder upright 2- put fork in the holder 3- put fork in the holder 4- put fork in the holder 5- put fork in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nkeep the 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\u003ctask:planning:freeform\u003e\ncurrent goal is: please clean up the spilled forks on the table Q: immediate next step? \u003cPRED\u003eA: keep the holder upright\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: keep the holder upright\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: keep the holder upright\n\u003c/PRED\u003e","video":"6604742713774329680.mp4"}
+{"uid":"6157552031307638322","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put chair inside the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput chair inside 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":"11388702811077126780.mp4"}
+{"uid":"12643988758607793521","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl. last 20 steps: 1- unstack the bowl 2- unstack the bowl 3- unstack the bowl 4- open the drawer 5- put the orange in the bowl 6- put the orange in the 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: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl. last 20 steps: 1- unstack the bowl 2- unstack the bowl 3- unstack the bowl 4- open the drawer 5- put the orange in the bowl 6- 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- put the blue packet in the bowl 4- put the brown packet in the bowl 5- put the brown packet 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: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: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl Q: immediate next step? \u003cPRED\u003eA: put the orange in the bowl\n\u003c/PRED\u003e","video":"11908208462453766836.mp4"}
+{"uid":"1787310800497245930","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":"3116975520130577481.mp4"}
+{"uid":"18362813656486653921","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl. last 20 steps: 1- unstack the bowl 2- unstack the bowl 3- unstack the bowl 4- open the drawer 5- 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- put the orange in the bowl 4- put the blue packet in the bowl 5- put the brown packet 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\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: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl. last 20 steps: 1- unstack the bowl 2- unstack the bowl 3- unstack the bowl 4- open the drawer 5- put 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: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl Q: immediate next step? \u003cPRED\u003eA: put the orange in the bowl\n\u003c/PRED\u003e","video":"1217250906343914967.mp4"}
+{"uid":"13302361006723260222","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":"12842224676778931867.mp4"}
+{"uid":"2050854493936322430","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":"7470220477582079338.mp4"}
+{"uid":"6156102882073907261","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":"14738973739408477527.mp4"}
+{"uid":"1145102986762095539","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the bowl into the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the bowl 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","video":"10961297227923825488.mp4"}
+{"uid":"14405672994428396195","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nkeep candy in 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":"12060475797089332292.mp4"}
+{"uid":"4201886025409276634","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":"192744460334188075.mp4"}
+{"uid":"980298502498957346","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":"1706421456244628440.mp4"}
+{"uid":"3291653023204526667","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place the bowl into the table 2- unstack the bowl 3- open the drawer 4- put the orange in the bowl 5- put the orange in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl Q: immediate next step? \u003cPRED\u003eA: place the bowl into the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the bowl 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\nplace the bowl 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place the bowl into the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the bowl into the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the bowl into the table\n\u003c/PRED\u003e","video":"1981229145734823108.mp4"}
+{"uid":"12148019910926414217","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the plastic knives in the cutlery 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":"16163348571126516771.mp4"}
+{"uid":"15585087812072234212","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":"195710489997009465.mp4"}
+{"uid":"2760286529327037157","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl. last 20 steps: 1- unstack the bowl 2- unstack the bowl 3- unstack the bowl 4- open the drawer 5- put the orange in the bowl 6- put the orange in the bowl 7- put the orange in the bowl 8- put the orange in the bowl 9- put the blue packet in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the packet in the empty bowl 2- put the white packet in the bowl 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl. last 20 steps: 1- unstack the bowl 2- unstack the bowl 3- unstack the bowl 4- open the drawer 5- put the orange in the bowl 6- put the orange in the bowl 7- put the orange in the bowl 8- put the orange in the bowl 9- put the blue packet in the bowl Q: immediate next step? \u003cPRED\u003eA: put the packet in the empty bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl Q: immediate next step? \u003cPRED\u003eA: put the packet in the empty bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the packet in the empty 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 packet in the empty 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 packet in the empty bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the packet in the empty bowl\n\u003c/PRED\u003e","video":"6361567691523369865.mp4"}
+{"uid":"123910119474741840","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl. last 20 steps: 1- unstack the bowl 2- 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: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl. last 20 steps: 1- unstack the bowl 2- unstack the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- unstack the bowl 2- put the orange in the bowl 3- put the orange in the bowl 4- put the orange in the bowl 5- put the orange in 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: unstack the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl Q: immediate next step? \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":"932499620915093384.mp4"}
+{"uid":"12868249393277698204","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \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\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl. last 20 steps: 1- unstack the bowl 2- unstack the bowl 3- unstack the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- open the drawer 2- put the orange in the bowl 3- put the orange in the bowl 4- put the orange in the bowl 5- put the orange in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl. last 20 steps: 1- unstack the bowl 2- unstack the bowl 3- unstack the bowl Q: immediate next step? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl 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":"8501520314639814383.mp4"}
+{"uid":"12453315309093745828","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the orange on bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop the orange on 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":"9119850482083095945.mp4"}
+{"uid":"7469674966233807341","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":"3329447350453717612.mp4"}
+{"uid":"9949436102877459543","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl. last 20 steps: 1- unstack the bowl 2- unstack the bowl 3- unstack the bowl 4- open the drawer 5- put the orange in the bowl 6- put the orange in the bowl 7- put the orange in the bowl 8- put the orange in the bowl 9- put the blue packet in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the brown packet in the bowl 2- put the brown packet in the bowl 3- put the white packet in the bowl 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl. last 20 steps: 1- unstack the bowl 2- unstack the bowl 3- unstack the bowl 4- open the drawer 5- put the orange in the bowl 6- put the orange in the bowl 7- put the orange in the bowl 8- put the orange in the bowl 9- put the blue packet in the bowl Q: immediate next step? \u003cPRED\u003eA: put the brown packet in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the brown packet in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the brown packet in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the brown 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:planning:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl Q: immediate next step? \u003cPRED\u003eA: put the brown packet in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the brown 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":"11876515216664471995.mp4"}
+{"uid":"17748714879156976731","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":"7966268056637752716.mp4"}
+{"uid":"16660265021279603196","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please clean up the spilled forks on the table Q: immediate next step? \u003cPRED\u003eA: put fork in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please clean up the spilled forks on the table. last 20 steps: 1- keep the holder upright 2- put fork in the holder 3- put fork in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- put fork in the holder 2- put fork in the holder 3- put fork in the holder 4- put fork in the holder 5- put fork in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput fork 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: put fork in the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put fork in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput fork 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 clean up the spilled forks on the table. last 20 steps: 1- keep the holder upright 2- put fork in the holder 3- put fork in the holder Q: immediate next step? \u003cPRED\u003eA: put fork in the holder\n\u003c/PRED\u003e","video":"5139717832987399488.mp4"}
+{"uid":"3450610490092069480","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput clip 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":"8757955433517643101.mp4"}
+{"uid":"16853490188462002229","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the orange on bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop the orange on 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":"14573136366034876123.mp4"}
+{"uid":"10164809287429090392","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":"16576435911410380144.mp4"}
+{"uid":"6070549142434783919","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace orange 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":"6313662211314518989.mp4"}
+{"uid":"4667818233966028956","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl. last 20 steps: 1- unstack the bowl 2- unstack the bowl 3- unstack the bowl 4- open the drawer 5- put the orange in the bowl 6- put the orange in the bowl 7- put the orange in the bowl 8- put the orange in the bowl 9- put the blue packet in the bowl 10- put the brown packet in the bowl 11- put the brown packet in the bowl 12- drop the milano dark chocolate into the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop the milano dark chocolate 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl. last 20 steps: 1- unstack the bowl 2- unstack the bowl 3- unstack the bowl 4- open the drawer 5- put the orange in the bowl 6- put the orange in the bowl 7- put the orange in the bowl 8- put the orange in the bowl 9- put the blue packet in the bowl 10- put the brown packet in the bowl 11- put the brown packet in the bowl 12- drop the milano dark chocolate into 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 the milano dark chocolate into the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"12171222351038560394.mp4"}
+{"uid":"6538358783536351577","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":"6855749592728356147.mp4"}
+{"uid":"6149882725291529991","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put chair inside the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput chair inside the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\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 sure all the chars are pushed in at the table. last 20 steps: 1- put chair inside the table 2- put chair inside the table Q: next 5 steps? \u003cPRED\u003eA: 1- put chair inside the table 2- put chair inside the table 3- put chair inside the table 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put chair inside the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please make sure all the chars are pushed in at the table Q: immediate next step? \u003cPRED\u003eA: put chair inside the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput chair inside the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\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 sure all the chars are pushed in at the table. last 20 steps: 1- put chair inside the table 2- put chair inside the table Q: immediate next step? \u003cPRED\u003eA: put chair inside the table\n\u003c/PRED\u003e","video":"9466512541798940719.mp4"}
+{"uid":"15127274099430163757","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl. last 20 steps: 1- unstack the bowl 2- unstack the bowl 3- unstack the bowl 4- open the drawer 5- put the orange in the bowl 6- put the orange in the bowl 7- put the orange in the bowl 8- put the orange in the bowl 9- put the blue packet in the bowl 10- put the brown packet in the bowl 11- put the brown packet in the bowl 12- put the white packet in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl. last 20 steps: 1- unstack the bowl 2- unstack the bowl 3- unstack the bowl 4- open the drawer 5- put the orange in the bowl 6- put the orange in the bowl 7- put the orange in the bowl 8- put the orange in the bowl 9- put the blue packet in the bowl 10- put the brown packet in the bowl 11- put the brown packet in the bowl 12- put the white packet in the bowl Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the white 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 the white packet in the bowl\n\u003c/PRED\u003e","video":"6038226471220654524.mp4"}
+{"uid":"482210361313621263","text":"\u003ctask:success:discrete:True\u003e\ndrop the orange on 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 the orange on bowl\n\u003c/PRED\u003e","video":"2025367905119376967.mp4"}
+{"uid":"13873491611274481832","text":"\u003ctask:success:discrete:False\u003e\nput the blue 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\u003ctask:affordance:discriminative:discrete:True\u003e\nput the blue 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the blue packet in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl Q: immediate next step? \u003cPRED\u003eA: put the blue packet in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl. last 20 steps: 1- unstack the bowl 2- unstack the bowl 3- unstack the bowl 4- open the drawer 5- put the orange in the bowl 6- put the orange in the bowl 7- put the orange in the bowl 8- put the orange in the bowl Q: immediate next step? \u003cPRED\u003eA: put the blue packet in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl. last 20 steps: 1- unstack the bowl 2- unstack the bowl 3- unstack the bowl 4- open the drawer 5- put the orange in the bowl 6- put the orange in the bowl 7- put the orange in the bowl 8- put the orange in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the blue packet in the bowl 2- put the brown packet in the bowl 3- put the brown packet in the bowl 4- put the white packet in 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 blue packet in the bowl\n\u003c/PRED\u003e","video":"3856519982146404529.mp4"}
+{"uid":"10516107618609995076","text":"\u003ctask:success:discrete:False\u003e\nput the white 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\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl. last 20 steps: 1- unstack the bowl 2- unstack the bowl 3- unstack the bowl 4- open the drawer 5- put the orange in the bowl 6- put the orange in the bowl 7- put the orange in the bowl 8- put the orange in the bowl 9- put the blue packet in the bowl 10- put the brown packet in the bowl 11- put the brown packet in the bowl Q: immediate next step? \u003cPRED\u003eA: put the white packet in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the white packet in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl. last 20 steps: 1- unstack the bowl 2- unstack the bowl 3- unstack the bowl 4- open the drawer 5- put the orange in the bowl 6- put the orange in the bowl 7- put the orange in the bowl 8- put the orange in the bowl 9- put the blue packet in the bowl 10- put the brown packet in the bowl 11- put the brown packet in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the white packet in the bowl 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl Q: immediate next step? \u003cPRED\u003eA: put the white packet in the bowl\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 bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the white 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","video":"6061850362491308878.mp4"}
+{"uid":"15240380358491269858","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nopen square object 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":"14117716399615197439.mp4"}
+{"uid":"10830951157228122239","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the packet in the empty 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 packet in the empty bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl Q: immediate next step? \u003cPRED\u003eA: put the packet in the empty bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl. last 20 steps: 1- unstack the bowl 2- unstack the bowl 3- unstack the bowl 4- open the drawer 5- put the orange in the bowl 6- put the orange in the bowl 7- put the orange in the bowl 8- put the orange in the bowl 9- put the blue packet in the bowl 10- put the brown packet in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the packet in the empty bowl 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl. last 20 steps: 1- unstack the bowl 2- unstack the bowl 3- unstack the bowl 4- open the drawer 5- put the orange in the bowl 6- put the orange in the bowl 7- put the orange in the bowl 8- put the orange in the bowl 9- put the blue packet in the bowl 10- put the brown packet in the bowl Q: immediate next step? \u003cPRED\u003eA: put the packet in the empty bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the packet in the empty 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 packet in the empty bowl\n\u003c/PRED\u003e","video":"17458950149443533562.mp4"}
+{"uid":"3510213814277280766","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput fork 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 clean up the spilled forks on the table. last 20 steps: 1- keep the holder upright 2- put fork in the holder 3- put fork in the holder 4- put fork in the holder 5- put fork in the holder 6- put fork in the holder 7- put fork in the holder 8- put fork in the holder 9- put fork in the holder Q: immediate next step? \u003cPRED\u003eA: put fork in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput fork 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 clean up the spilled forks on the table. last 20 steps: 1- keep the holder upright 2- put fork in the holder 3- put fork in the holder 4- put fork in the holder 5- put fork in the holder 6- put fork in the holder 7- put fork in the holder 8- put fork in the holder 9- put fork in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- put fork in the holder 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put fork in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please clean up the spilled forks on the table Q: immediate next step? \u003cPRED\u003eA: put fork in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put fork in the holder\n\u003c/PRED\u003e","video":"15142829782960885741.mp4"}
+{"uid":"12232546732733672973","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":"16717633646742148196.mp4"}
+{"uid":"6485802646496739007","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npicking up the nut and dropping 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":"11377473192128924751.mp4"}
+{"uid":"12667706718667996035","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":"1918302644173186.mp4"}
+{"uid":"4927595416414429655","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the glass 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":"4292823185590493028.mp4"}
+{"uid":"17027649422966343684","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the packet in the empty bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the packet in the empty 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":"16712846720657158107.mp4"}
+{"uid":"8312902982676048833","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the sanitizer bottle 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":"15391099378607303081.mp4"}
+{"uid":"8137535907514187247","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":"11364791371109314432.mp4"}
+{"uid":"833695616236244907","text":"\u003ctask:success:discrete:True\u003e\nplace the blue packet 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: place the blue packet into the bowl\n\u003c/PRED\u003e","video":"2283583130800409119.mp4"}
+{"uid":"13818375613661226790","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop 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":"4597887597487914523.mp4"}
+{"uid":"7504132602663749442","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the fork 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":"14018138120793467969.mp4"}
+{"uid":"16546749848341818393","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please clean up the spilled forks on the table. last 20 steps: 1- keep the holder upright 2- put fork in the holder 3- put fork in the holder 4- put fork in the holder 5- put fork in the holder Q: immediate next step? \u003cPRED\u003eA: put fork in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please clean up the spilled forks on the table. last 20 steps: 1- keep the holder upright 2- put fork in the holder 3- put fork in the holder 4- put fork in the holder 5- put fork in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- put fork in the holder 2- put fork in the holder 3- put fork in the holder 4- put fork in the holder 5- put fork in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please clean up the spilled forks on the table Q: immediate next step? \u003cPRED\u003eA: put fork in the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put fork in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput fork 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 fork in the holder\n\u003c/PRED\u003e","video":"2081419547297156072.mp4"}
+{"uid":"3301636650929165061","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":"12095044280475344777.mp4"}
+{"uid":"7319552309041581207","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut fourth fork on 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":"555931259717337371.mp4"}
+{"uid":"18157142680882378471","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl Q: immediate next step? \u003cPRED\u003eA: drop the rxbar blueberry into the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the rxbar blueberry 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: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl. last 20 steps: 1- unstack the bowl 2- unstack the bowl 3- unstack the bowl 4- open the drawer 5- put the orange in the bowl 6- put the orange in the bowl 7- put the orange in the bowl 8- put the orange in the bowl 9- put the blue packet in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- drop the rxbar blueberry into the bowl 2- put the white packet in the bowl 3- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the rxbar blueberry 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: drop the rxbar blueberry into the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the rxbar blueberry into the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl. last 20 steps: 1- unstack the bowl 2- unstack the bowl 3- unstack the bowl 4- open the drawer 5- put the orange in the bowl 6- put the orange in the bowl 7- put the orange in the bowl 8- put the orange in the bowl 9- put the blue packet in the bowl Q: immediate next step? \u003cPRED\u003eA: drop the rxbar blueberry into the bowl\n\u003c/PRED\u003e","video":"6413410983886801265.mp4"}
+{"uid":"4637825620823145632","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace pen 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":"3127329042583309971.mp4"}
+{"uid":"4566715422041931140","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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl. last 20 steps: 1- unstack the bowl 2- unstack the bowl 3- unstack the bowl 4- open the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- put the orange in the bowl 2- put the orange in the bowl 3- put the orange in the bowl 4- put the blue packet in the bowl 5- put the brown packet 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl. last 20 steps: 1- unstack the bowl 2- unstack the bowl 3- unstack the bowl 4- open the drawer Q: immediate next step? \u003cPRED\u003eA: put the orange in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large 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","video":"3995553006625878488.mp4"}
+{"uid":"13932963934427997397","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please make sure all the chars are pushed in at the table Q: immediate next step? \u003cPRED\u003eA: put chair inside the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please make sure all the chars are pushed in at the table. last 20 steps: 1- put chair inside the table 2- put chair inside the table 3- put chair inside the table Q: next 5 steps? \u003cPRED\u003eA: 1- put chair inside the table 2- put chair inside the table 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput chair inside the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED: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 chair inside the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please make sure all the chars are pushed in at the table. last 20 steps: 1- put chair inside the table 2- put chair inside the table 3- put chair inside the table Q: immediate next step? \u003cPRED\u003eA: put chair inside the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put chair inside the table\n\u003c/PRED\u003e","video":"1876434227731034517.mp4"}
+{"uid":"7465274156675191575","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":"9876136341727435333.mp4"}
+{"uid":"724272039400538609","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl. last 20 steps: 1- unstack the bowl 2- unstack the bowl Q: immediate next step? \u003cPRED\u003eA: place the bowl into the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the bowl into the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the bowl 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl. last 20 steps: 1- unstack the bowl 2- unstack the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place the bowl into the table 2- put the orange in the bowl 3- put the orange in the bowl 4- put the orange in the bowl 5- put the orange in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the bowl into the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl Q: immediate next step? \u003cPRED\u003eA: place the bowl into the table\n\u003c/PRED\u003e","video":"2464181395565290415.mp4"}
+{"uid":"10417460823068946273","text":"\u003ctask:success:discrete:False\u003e\ndrop the orange on 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: drop the orange on bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the orange on bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl. last 20 steps: 1- unstack the bowl 2- unstack the bowl 3- unstack the bowl 4- open the drawer 5- put the orange in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- drop the orange on bowl 2- put the orange in the bowl 3- put the blue packet in the bowl 4- put the brown packet in the bowl 5- put the brown packet in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the orange on 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: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl. last 20 steps: 1- unstack the bowl 2- unstack the bowl 3- unstack the bowl 4- open the drawer 5- put the orange in the bowl Q: immediate next step? \u003cPRED\u003eA: drop the orange on bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl Q: immediate next step? \u003cPRED\u003eA: drop the orange on bowl\n\u003c/PRED\u003e","video":"6328704825814266661.mp4"}
+{"uid":"2054676289488003104","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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl. last 20 steps: 1- unstack the bowl 2- unstack the bowl 3- unstack the bowl 4- open the drawer 5- put 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: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large 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: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: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl. last 20 steps: 1- unstack the bowl 2- unstack the bowl 3- unstack the bowl 4- open the drawer 5- 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- put the blue packet in the bowl 4- put the brown packet in the bowl 5- put the brown packet in the bowl\n\u003c/PRED\u003e","video":"6909119903652197907.mp4"}
+{"uid":"7394913239919706069","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please make sure all the chars are pushed in at the table. last 20 steps: 1- put chair inside the table Q: next 5 steps? \u003cPRED\u003eA: 1- put chair inside the table 2- put chair inside the table 3- put chair inside the table 4- put chair inside the table 5- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put chair inside the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput chair inside the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\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 sure all the chars are pushed in at the table. last 20 steps: 1- put chair inside the table Q: immediate next step? \u003cPRED\u003eA: put chair inside the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please make sure all the chars are pushed in at the table Q: immediate next step? \u003cPRED\u003eA: put chair inside the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put chair inside the table\n\u003c/PRED\u003e","video":"7127903242569952437.mp4"}
+{"uid":"13600322550406709153","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl. last 20 steps: 1- unstack the bowl 2- unstack the bowl 3- unstack the bowl 4- open the drawer 5- put the orange in the bowl 6- 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: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: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl. last 20 steps: 1- unstack the bowl 2- unstack the bowl 3- unstack the bowl 4- open the drawer 5- put the orange in the bowl 6- 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- put the blue packet in the bowl 4- put the brown packet in the bowl 5- put the brown packet in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl Q: immediate next step? \u003cPRED\u003eA: put the orange in the bowl\n\u003c/PRED\u003e","video":"11529209782311801444.mp4"}
+{"uid":"16253905521223744907","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":"4750003446304652443.mp4"}
+{"uid":"6685615923736290410","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput fork 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 fork in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please clean up the spilled forks on the table. last 20 steps: 1- keep the holder upright 2- put fork in the holder 3- put fork in the holder 4- put fork in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- put fork in the holder 2- put fork in the holder 3- put fork in the holder 4- put fork in the holder 5- put fork in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput fork 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 fork in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please clean up the spilled forks on the table Q: immediate next step? \u003cPRED\u003eA: put fork in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please clean up the spilled forks on the table. last 20 steps: 1- keep the holder upright 2- put fork in the holder 3- put fork in the holder 4- put fork in the holder Q: immediate next step? \u003cPRED\u003eA: put fork in the holder\n\u003c/PRED\u003e","video":"7561389344857453795.mp4"}
+{"uid":"9646284321323527478","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":"17136281506156632339.mp4"}
+{"uid":"5030470639324523012","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the candy 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":"4040421851073559938.mp4"}
+{"uid":"16870601705921262775","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put fork in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput fork 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 fork in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please clean up the spilled forks on the table. last 20 steps: 1- keep the holder upright 2- put fork in the holder Q: immediate next step? \u003cPRED\u003eA: put fork in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please clean up the spilled forks on the table. last 20 steps: 1- keep the holder upright 2- put fork in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- put fork in the holder 2- put fork in the holder 3- put fork in the holder 4- put fork in the holder 5- put fork in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please clean up the spilled forks on the table Q: immediate next step? \u003cPRED\u003eA: put fork in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput fork 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":"14534790592782012529.mp4"}
+{"uid":"5469103177439999892","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the red 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":"13882456704943899087.mp4"}
+{"uid":"11202735070908336612","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please clean up the spilled forks on the table. last 20 steps: 1- keep the holder upright Q: immediate next step? \u003cPRED\u003eA: put fork in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please clean up the spilled forks on the table. last 20 steps: 1- keep the holder upright Q: next 5 steps? \u003cPRED\u003eA: 1- put fork in the holder 2- put fork in the holder 3- put fork in the holder 4- put fork in the holder 5- put fork in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput fork 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 fork in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please clean up the spilled forks on the table Q: immediate next step? \u003cPRED\u003eA: put fork in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput fork 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 fork in the holder\n\u003c/PRED\u003e","video":"16556573422177081252.mp4"}
+{"uid":"16692005934733059524","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmake can stand 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":"6410692271516093944.mp4"}
+{"uid":"4805210690204457738","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put fork in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please clean up the spilled forks on the table Q: immediate next step? \u003cPRED\u003eA: put fork in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please clean up the spilled forks on the table. last 20 steps: 1- keep the holder upright 2- put fork in the holder 3- put fork in the holder 4- put fork in the holder 5- put fork in the holder 6- put fork in the holder 7- put fork in the holder 8- put fork in the holder Q: immediate next step? \u003cPRED\u003eA: put fork in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put fork in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput fork 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 clean up the spilled forks on the table. last 20 steps: 1- keep the holder upright 2- put fork in the holder 3- put fork in the holder 4- put fork in the holder 5- put fork in the holder 6- put fork in the holder 7- put fork in the holder 8- put fork in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- put fork in the holder 2- put fork in the holder 3- done\n\u003c/PRED\u003e","video":"9901176018820758051.mp4"}
+{"uid":"114493225848515218","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":"11544032747926700641.mp4"}
+{"uid":"1620369312644779060","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":"11758829658503789711.mp4"}
+{"uid":"11656210380155999132","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":"15027899106767718977.mp4"}
+{"uid":"14881427200264396089","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up 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":"3902933339714600174.mp4"}
+{"uid":"3399158128348835407","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please make sure all the chars are pushed in at the table. last 20 steps: 1- put chair inside the table 2- put chair inside the table 3- put chair inside the table 4- put chair inside the table Q: immediate next step? \u003cPRED\u003eA: put chair inside the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please make sure all the chars are pushed in at the table. last 20 steps: 1- put chair inside the table 2- put chair inside the table 3- put chair inside the table 4- put chair inside the table Q: next 5 steps? \u003cPRED\u003eA: 1- put chair inside the table 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put chair inside the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please make sure all the chars are pushed in at the table Q: immediate next step? \u003cPRED\u003eA: put chair inside the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput chair inside the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\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 chair inside the table\n\u003c/PRED\u003e","video":"8150860419109598296.mp4"}
+{"uid":"13788096133241295876","text":"\u003ctask:success:discrete:True\u003e\nput chair inside 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 chair inside the table\n\u003c/PRED\u003e","video":"2544336000742668452.mp4"}
+{"uid":"6817421951123827269","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":"5639624031801879347.mp4"}
+{"uid":"18202654445435079987","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":"13703305293371279644.mp4"}
+{"uid":"16046026928135637783","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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl. last 20 steps: 1- unstack the bowl 2- unstack the bowl 3- unstack the bowl 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\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl Q: immediate next step? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl. last 20 steps: 1- unstack the bowl 2- unstack the bowl 3- unstack the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- open the drawer 2- put the orange in the bowl 3- put the orange in the bowl 4- put the orange in the bowl 5- put the blue packet in the bowl\n\u003c/PRED\u003e","video":"7641400097993767846.mp4"}
+{"uid":"8545877397231994508","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the Pen Stand on the shelf of cup 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":"3203833087146404117.mp4"}
+{"uid":"9531316626964238491","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl. last 20 steps: 1- unstack the bowl 2- unstack the bowl 3- unstack the bowl 4- open the drawer 5- put the orange in the bowl 6- put the orange in the bowl Q: immediate next step? \u003cPRED\u003eA: drop the orange on bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl. last 20 steps: 1- unstack the bowl 2- unstack the bowl 3- unstack the bowl 4- open the drawer 5- put the orange in the bowl 6- put the orange in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- drop the orange on bowl 2- put the orange in the bowl 3- put the blue packet in the bowl 4- put the brown packet in the bowl 5- put the brown packet in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the orange on 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: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl Q: immediate next step? \u003cPRED\u003eA: drop the orange on bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the orange on bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the orange on 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 the orange on bowl\n\u003c/PRED\u003e","video":"6463845211419749407.mp4"}
+{"uid":"12429440944601375089","text":"\u003ctask:success:discrete:True\u003e\nput the brown 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 the brown packet in the bowl\n\u003c/PRED\u003e","video":"12488613440328226453.mp4"}
+{"uid":"1202022910628454957","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack the glass 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":"471535858797918357.mp4"}
+{"uid":"16979917808982315390","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the orange on bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop the orange on 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":"1179347249738796356.mp4"}
+{"uid":"10158348209929683312","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":"9196115496726374615.mp4"}
+{"uid":"3108145499042583628","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":"14941616794653286550.mp4"}
+{"uid":"15257972338053086567","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":"626247541784608014.mp4"}
+{"uid":"4156120097190989590","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":"12038841878402736518.mp4"}
+{"uid":"9504569212831550714","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please clean up the spilled forks on the table. last 20 steps: 1- keep the holder upright 2- put fork in the holder 3- put fork in the holder 4- put fork in the holder 5- put fork in the holder 6- put fork in the holder Q: immediate next step? \u003cPRED\u003eA: put fork in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput fork 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 fork in the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put fork in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please clean up the spilled forks on the table Q: immediate next step? \u003cPRED\u003eA: put fork in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please clean up the spilled forks on the table. last 20 steps: 1- keep the holder upright 2- put fork in the holder 3- put fork in the holder 4- put fork in the holder 5- put fork in the holder 6- put fork in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- put fork in the holder 2- put fork in the holder 3- put fork in the holder 4- put fork in the holder 5- done\n\u003c/PRED\u003e","video":"10207717707807174470.mp4"}
+{"uid":"17690532712264671389","text":"\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: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl Q: immediate next step? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl. last 20 steps: 1- unstack the bowl 2- unstack the bowl 3- unstack the bowl 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: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl. last 20 steps: 1- unstack the bowl 2- unstack the bowl 3- unstack the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- open the drawer 2- put the orange in the bowl 3- put the orange in the bowl 4- put the orange in the bowl 5- put the orange in the bowl\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":"11113924817877221107.mp4"}
+{"uid":"10236523200121743056","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl. last 20 steps: 1- unstack the bowl 2- unstack the bowl 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: unstack the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl. last 20 steps: 1- unstack the bowl 2- unstack the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- unstack the bowl 2- open the drawer 3- put the orange in the bowl 4- put the orange in the bowl 5- put the orange in 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: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl Q: immediate next step? \u003cPRED\u003eA: unstack the bowl\n\u003c/PRED\u003e","video":"9757818163296277811.mp4"}
+{"uid":"4311742329006108017","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the 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":"7469114407537565321.mp4"}
+{"uid":"18240370020754200122","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the milano dark chocolate into the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the milano dark chocolate 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: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl. last 20 steps: 1- unstack the bowl 2- unstack the bowl 3- unstack the bowl 4- open the drawer 5- put the orange in the bowl 6- put the orange in the bowl 7- put the orange in the bowl 8- put the orange in the bowl 9- put the blue packet in the bowl 10- put the brown packet in the bowl 11- put the brown packet in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- drop the milano dark chocolate into the bowl 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the milano dark chocolate into the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl. last 20 steps: 1- unstack the bowl 2- unstack the bowl 3- unstack the bowl 4- open the drawer 5- put the orange in the bowl 6- put the orange in the bowl 7- put the orange in the bowl 8- put the orange in the bowl 9- put the blue packet in the bowl 10- put the brown packet in the bowl 11- put the brown packet in the bowl Q: immediate next step? \u003cPRED\u003eA: drop the milano dark chocolate into the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl Q: immediate next step? \u003cPRED\u003eA: drop the milano dark chocolate into the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the milano dark chocolate 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":"4605921463479928003.mp4"}
+{"uid":"8836149856992728922","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":"3365305613259741538.mp4"}
+{"uid":"8440262978748270987","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl Q: immediate next step? \u003cPRED\u003eA: put the packet in the empty bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl. last 20 steps: 1- unstack the bowl 2- unstack the bowl 3- unstack the bowl 4- open the drawer 5- put the orange in the bowl 6- put the orange in the bowl 7- put the orange in the bowl 8- put the orange in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the packet in the empty bowl 2- put the brown packet in the bowl 3- put the white packet in the bowl 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the packet in the empty 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 packet in the empty bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the packet in the empty 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 packet in the empty bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl. last 20 steps: 1- unstack the bowl 2- unstack the bowl 3- unstack the bowl 4- open the drawer 5- put the orange in the bowl 6- put the orange in the bowl 7- put the orange in the bowl 8- put the orange in the bowl Q: immediate next step? \u003cPRED\u003eA: put the packet in the empty bowl\n\u003c/PRED\u003e","video":"12605818807472452184.mp4"}
+{"uid":"11602286153913827625","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:planning:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl Q: immediate next step? \u003cPRED\u003eA: unstack the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl. last 20 steps: none Q: immediate next step? \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\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- unstack the bowl 2- unstack the bowl 3- open the drawer 4- put the orange in the bowl 5- 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: unstack the bowl\n\u003c/PRED\u003e","video":"18210567897781256596.mp4"}
+{"uid":"14979637102261504760","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":"12670280245214611394.mp4"}
+{"uid":"14363999561424388486","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl. last 20 steps: 1- unstack the bowl 2- unstack the bowl 3- unstack the bowl 4- open the drawer 5- put the orange in the bowl 6- put the orange in the bowl 7- put the orange in the bowl 8- put the orange in the bowl 9- put the blue packet in the bowl 10- put the brown packet in the bowl 11- put the packet in the empty 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 the packet in the empty bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl. last 20 steps: 1- unstack the bowl 2- unstack the bowl 3- unstack the bowl 4- open the drawer 5- put the orange in the bowl 6- put the orange in the bowl 7- put the orange in the bowl 8- put the orange in the bowl 9- put the blue packet in the bowl 10- put the brown packet in the bowl 11- put the packet in the empty bowl Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the packet in the empty 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":"14696277308314157882.mp4"}
+{"uid":"11296977082726803820","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: unstack the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl. last 20 steps: 1- unstack the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- unstack the bowl 2- unstack the bowl 3- open the drawer 4- put the orange in the bowl 5- put the orange in 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: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl. last 20 steps: 1- unstack the bowl Q: immediate next step? \u003cPRED\u003eA: unstack the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl Q: immediate next step? \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":"10163056707979812272.mp4"}
+{"uid":"11768948683820683514","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl. last 20 steps: 1- unstack the bowl 2- unstack the bowl 3- unstack the bowl 4- open the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- put the orange in the bowl 2- put the orange in the bowl 3- put the orange in the bowl 4- put the orange in the bowl 5- put the blue packet 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:planning:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl. last 20 steps: 1- unstack the bowl 2- unstack the bowl 3- unstack the bowl 4- open the 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: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":"4687852796247597337.mp4"}
+{"uid":"10203784954073373585","text":"\u003ctask:success:discrete:False\u003e\ndrop the orange on 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: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl. last 20 steps: 1- unstack the bowl 2- unstack the bowl 3- unstack the bowl 4- open the drawer 5- put the orange in the bowl 6- put the orange in the bowl 7- put the orange in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- drop the orange on bowl 2- put the brown packet in the bowl 3- put the brown packet in the bowl 4- put the white packet in the bowl 5- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl Q: immediate next step? \u003cPRED\u003eA: drop the orange on bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl. last 20 steps: 1- unstack the bowl 2- unstack the bowl 3- unstack the bowl 4- open the drawer 5- put the orange in the bowl 6- put the orange in the bowl 7- put the orange in the bowl Q: immediate next step? \u003cPRED\u003eA: drop the orange on bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the orange on bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the orange on 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: drop the orange on bowl\n\u003c/PRED\u003e","video":"1683032699219764467.mp4"}
+{"uid":"11050189361563989817","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl. last 20 steps: 1- unstack the bowl 2- unstack the bowl 3- unstack the bowl 4- open the drawer 5- put the orange in the bowl 6- put the orange in the bowl 7- put the orange in the bowl 8- put the orange in the bowl Q: immediate next step? \u003cPRED\u003eA: place the blue packet into the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl. last 20 steps: 1- unstack the bowl 2- unstack the bowl 3- unstack the bowl 4- open the drawer 5- put the orange in the bowl 6- put the orange in the bowl 7- put the orange in the bowl 8- put the orange in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place the blue packet into the bowl 2- put the brown packet in the bowl 3- put the white packet in the bowl 4- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl Q: immediate next step? \u003cPRED\u003eA: place the blue packet into the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the blue 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:success:discrete:False\u003e\nplace the blue 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: place the blue packet into the bowl\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 bowl\n\u003c/PRED\u003e","video":"10288039701927181519.mp4"}
+{"uid":"6152077294265488823","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the bowl into the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the bowl 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl. last 20 steps: 1- unstack the bowl Q: immediate next step? \u003cPRED\u003eA: place the bowl into the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl Q: immediate next step? \u003cPRED\u003eA: place the bowl into the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the bowl into the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl. last 20 steps: 1- unstack the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place the bowl into the table 2- open the drawer 3- put the orange in the bowl 4- put the orange in the bowl 5- put the orange in the bowl\n\u003c/PRED\u003e","video":"1303970902430493821.mp4"}
+{"uid":"13983593153045614954","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput clip 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":"3313872423506626747.mp4"}
+{"uid":"17990628946174202947","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the rxbar chocolate into the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl. last 20 steps: 1- unstack the bowl 2- unstack the bowl 3- unstack the bowl 4- open the drawer 5- put the orange in the bowl 6- put the orange in the bowl 7- put the orange in the bowl 8- put the orange in the bowl 9- put the blue packet in the bowl 10- put the brown packet in the bowl 11- drop the rxbar chocolate into the bowl Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop the rxbar chocolate 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl. last 20 steps: 1- unstack the bowl 2- unstack the bowl 3- unstack the bowl 4- open the drawer 5- put the orange in the bowl 6- put the orange in the bowl 7- put the orange in the bowl 8- put the orange in the bowl 9- put the blue packet in the bowl 10- put the brown packet in the bowl 11- drop the rxbar chocolate into the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"8058284471314168209.mp4"}
+{"uid":"204834395710702099","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":"12737613318117890383.mp4"}
+{"uid":"12998259582265048246","text":"\u003ctask:success:discrete:True\u003e\ndrop the rxbar blueberry 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: drop the rxbar blueberry into the bowl\n\u003c/PRED\u003e","video":"10059930895695729144.mp4"}
+{"uid":"9632672507060267024","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":"18131151940397209436.mp4"}
+{"uid":"18218721852129069371","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":"9859667168559375346.mp4"}
+{"uid":"14274457902687116319","text":"\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: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl. last 20 steps: 1- unstack the bowl 2- unstack the bowl 3- unstack the bowl 4- open the drawer 5- put the orange in the bowl 6- put the orange in the bowl 7- put the orange in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the orange in the bowl 2- put the blue packet in the bowl 3- put the brown packet in the bowl 4- put the brown packet in the bowl 5- put the white packet in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl 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: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl. last 20 steps: 1- unstack the bowl 2- unstack the bowl 3- unstack the bowl 4- open the drawer 5- put the orange in the bowl 6- put the orange in the bowl 7- put the orange 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: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":"16896602065629757062.mp4"}
+{"uid":"9414246318172707265","text":"\u003ctask:success:discrete:True\u003e\nput the brown 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 the brown packet in the bowl\n\u003c/PRED\u003e","video":"6531474879766808631.mp4"}
+{"uid":"16407059872283602669","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the orange on bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the orange on bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl. last 20 steps: 1- unstack the bowl 2- unstack the bowl 3- unstack the bowl 4- open the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- drop the orange on bowl 2- put the orange in the bowl 3- put the orange in the bowl 4- put the blue packet in the bowl 5- put the brown packet in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the orange on 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: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl Q: immediate next step? \u003cPRED\u003eA: drop the orange on bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the orange on 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: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl. last 20 steps: 1- unstack the bowl 2- unstack the bowl 3- unstack the bowl 4- open the drawer Q: immediate next step? \u003cPRED\u003eA: drop the orange on bowl\n\u003c/PRED\u003e","video":"6837126397104112738.mp4"}
+{"uid":"16237564287932323103","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":"884460933817175676.mp4"}
+{"uid":"14271811305582769883","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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl. last 20 steps: 1- unstack the bowl 2- unstack the bowl 3- unstack the bowl 4- open the drawer 5- put the orange in the bowl 6- put the orange in the bowl 7- put the orange in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the orange in the bowl 2- put the blue packet in the bowl 3- put the brown packet in the bowl 4- put the brown packet in the bowl 5- put the white packet in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl. last 20 steps: 1- unstack the bowl 2- unstack the bowl 3- unstack the bowl 4- open the drawer 5- put the orange in the bowl 6- put the orange in the bowl 7- put 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: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large 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","video":"5134119875419021763.mp4"}
+{"uid":"16751800590360682500","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the orange in the white 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":"11131435176015338550.mp4"}
+{"uid":"3874196196701052287","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":"5598958232522558595.mp4"}
+{"uid":"14505534966233630717","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the red 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":"16868690808191143422.mp4"}
+{"uid":"476636316509949119","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":"15678964796808584156.mp4"}
+{"uid":"8611048549653539724","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Release the bottle into the cardboard box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nRelease the bottle into 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":"15914406854259772845.mp4"}
+{"uid":"4195747240356321903","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":"17974790032049628694.mp4"}
+{"uid":"6595586668984804109","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Grasp the black holder\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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Grasp the black holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the hint water, the water bottle and the mesh cup into the box. last 20 steps: 1- Pick up the bottom right hint bottle 2- put the hint bottle in the cardboard box 3- Grasp the water bottle 4- Place the water bottle into the cardboard box Q: next 5 steps? \u003cPRED\u003eA: 1- Grasp the black holder 2- place the black holder in the cardboard box 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the hint water, the water bottle and the mesh cup into the box. last 20 steps: 1- Pick up the bottom right hint bottle 2- put the hint bottle in the cardboard box 3- Grasp the water bottle 4- Place the water bottle into the cardboard box Q: immediate next step? \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\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the hint water, the water bottle and the mesh cup into the box Q: immediate next step? \u003cPRED\u003eA: Grasp the black holder\n\u003c/PRED\u003e","video":"11035104080755435393.mp4"}
+{"uid":"15225221220458516483","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the black holder from the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the hint water, the water bottle and the mesh cup into the box. last 20 steps: 1- Pick up the bottom right hint bottle 2- put the hint bottle in the cardboard box 3- Grasp the water bottle 4- Place the water bottle into the cardboard box Q: immediate next step? \u003cPRED\u003eA: pick the black holder from the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the hint water, the water bottle and the mesh cup into the box Q: immediate next step? \u003cPRED\u003eA: pick the black holder from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick 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 the black holder from the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the hint water, the water bottle and the mesh cup into the box. last 20 steps: 1- Pick up the bottom right hint bottle 2- put the hint bottle in the cardboard box 3- Grasp the water bottle 4- Place the water bottle into the cardboard box Q: next 5 steps? \u003cPRED\u003eA: 1- pick the black holder from the table 2- place the black holder in the cardboard box 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick 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","video":"17317033315653714738.mp4"}
+{"uid":"1347745372928477513","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pink toffee 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":"3479034808164432965.mp4"}
+{"uid":"14051996627658830300","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":"3814486864548986092.mp4"}
+{"uid":"14815783051740343386","text":"\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 the used disinfectant wipe. 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please throw away the used disinfectant wipe. last 20 steps: 1- pick up tissue 2- drop on the floor 3- open the door 4- pick up tissue Q: immediate next step? \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: Please throw away the used disinfectant wipe. last 20 steps: 1- pick up tissue 2- drop on the floor 3- open the door 4- pick up tissue Q: next 5 steps? \u003cPRED\u003eA: 1- leave the room 2- put 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: leave the room\n\u003c/PRED\u003e","video":"15840856535962605009.mp4"}
+{"uid":"17844087067627479066","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput 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:planning:freeform\u003e\ncurrent goal is: Please throw away the used disinfectant wipe. Q: immediate next step? \u003cPRED\u003eA: put tissue in the dust bin\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put tissue in the dust bin\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please throw away the used disinfectant wipe. last 20 steps: 1- pick up tissue 2- drop on the floor 3- open the door 4- pick up tissue 5- leave the room Q: next 5 steps? \u003cPRED\u003eA: 1- put tissue in the dust bin 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please throw away the used disinfectant wipe. last 20 steps: 1- pick up tissue 2- drop on the floor 3- open the door 4- pick up tissue 5- leave the room Q: immediate next step? \u003cPRED\u003eA: put tissue in the dust bin\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put tissue in the dust bin\n\u003c/PRED\u003e","video":"328177159955068807.mp4"}
+{"uid":"14232097361879304830","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the 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":"415493969332440962.mp4"}
+{"uid":"2012906968389811407","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the 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":"5760222827564066272.mp4"}
+{"uid":"3206947685245811462","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the hint water, the water bottle and the mesh cup into the box Q: immediate next step? \u003cPRED\u003eA: put the hint bottle in the cardboard box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the hint bottle in the cardboard box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the hint water, the water bottle and the mesh cup into the box. last 20 steps: 1- Pick up the bottom right hint bottle Q: next 5 steps? \u003cPRED\u003eA: 1- put the hint bottle in the cardboard box 2- Grasp the water bottle 3- Place the water bottle into the cardboard box 4- pick the black holder from the table 5- place the black holder in the cardboard box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the hint bottle in the cardboard box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the hint water, the water bottle and the mesh cup into the box. last 20 steps: 1- Pick up the bottom right hint bottle Q: immediate next step? \u003cPRED\u003eA: put the hint bottle in the cardboard box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the hint bottle 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\u003ctask:success:discrete:False\u003e\nput the hint bottle 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","video":"3485356995685412800.mp4"}
+{"uid":"3654863811148990879","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop the black pen 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":"14284227292037888823.mp4"}
+{"uid":"3940451409009631332","text":"\u003ctask:success:discrete:False\u003e\npick 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the hint water, the water bottle and the mesh cup into the box. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: pick the hint bottle from the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the hint water, the water bottle and the mesh cup into the box. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- pick the hint bottle from the table 2- put the hint bottle in the cardboard box 3- Grasp the water bottle 4- Place the water bottle into the cardboard box 5- pick the black holder from the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick 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\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the hint bottle from the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the hint water, the water bottle and the mesh cup into the box Q: immediate next step? \u003cPRED\u003eA: pick the hint bottle from the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the hint bottle from the table\n\u003c/PRED\u003e","video":"6045406894686985467.mp4"}
+{"uid":"538718239021955384","text":"\u003ctask:success:discrete:True\u003e\nput 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 tissue in the dust bin\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please throw away the used disinfectant wipe. last 20 steps: 1- pick up tissue 2- drop on the floor 3- open the door 4- pick up tissue 5- leave the room 6- put tissue 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 throw away the used disinfectant wipe. last 20 steps: 1- pick up tissue 2- drop on the floor 3- open the door 4- pick up tissue 5- leave the room 6- put tissue in the dust bin Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please throw away the used disinfectant wipe. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"14473582799197006242.mp4"}
+{"uid":"15771818799701747869","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the bottom right hint bottle\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the hint water, the water bottle and the mesh cup into the box. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the bottom right hint bottle 2- put the hint bottle in the cardboard box 3- Grasp the water bottle 4- Place the water bottle into the cardboard box 5- pick the black holder from the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the bottom right hint bottle\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the hint water, the water bottle and the mesh cup into the box Q: immediate next step? \u003cPRED\u003eA: Pick up the bottom right hint bottle\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the bottom right 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\u003ctask:success:discrete:False\u003e\nPick up the bottom right 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the hint water, the water bottle and the mesh cup into the box. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Pick up the bottom right hint bottle\n\u003c/PRED\u003e","video":"12097811586349694250.mp4"}
+{"uid":"15417808422390485042","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Please throw away the used disinfectant wipe. Q: immediate next step? \u003cPRED\u003eA: pick up tissue\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up tissue\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up tissue\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please throw away the used disinfectant wipe. last 20 steps: 1- pick up tissue 2- drop on the floor 3- open the door Q: next 5 steps? \u003cPRED\u003eA: 1- pick up tissue 2- leave the room 3- put tissue in the dust bin 4- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please throw away the used disinfectant wipe. last 20 steps: 1- pick up tissue 2- drop on the floor 3- open the door Q: immediate next step? \u003cPRED\u003eA: pick up tissue\n\u003c/PRED\u003e","video":"15542471975887239935.mp4"}
+{"uid":"12465583697636949544","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up the scrub 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":"13125053166975795184.mp4"}
+{"uid":"3393934083530033722","text":"\u003ctask:success:discrete:True\u003e\npick up the water 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: pick up the water bottle\n\u003c/PRED\u003e","video":"18196503084054937236.mp4"}
+{"uid":"4012305876132508197","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up the hint bottle\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick up the hint 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":"12776893641023069701.mp4"}
+{"uid":"10963266351641592492","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":"12174953623742443334.mp4"}
+{"uid":"11816229595818779971","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the 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":"11203051830348555834.mp4"}
+{"uid":"14766461818254815541","text":"\u003ctask:success:discrete:True\u003e\npick the water 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 the water bottle from the table\n\u003c/PRED\u003e","video":"596344652589290003.mp4"}
+{"uid":"13274530156716236823","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please throw away the used disinfectant wipe. last 20 steps: 1- pick up tissue 2- drop on the floor Q: immediate next step? \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: Please throw away the used disinfectant wipe. last 20 steps: 1- pick up tissue 2- drop on the floor Q: next 5 steps? \u003cPRED\u003eA: 1- open the door 2- pick up tissue 3- leave the room 4- put tissue in the dust bin 5- done\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:planning:freeform\u003e\ncurrent goal is: Please throw away the used disinfectant wipe. 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","video":"12956572578594247108.mp4"}
+{"uid":"5035586475560682848","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the holder into the cardboard box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the holder into 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 put the hint water, the water bottle and the mesh cup into the box. last 20 steps: 1- Pick up the bottom right hint bottle 2- put the hint bottle in the cardboard box 3- Grasp the water bottle 4- Place the water bottle into the cardboard box Q: next 5 steps? \u003cPRED\u003eA: 1- drop the holder into the cardboard box 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the hint water, the water bottle and the mesh cup into the box. last 20 steps: 1- Pick up the bottom right hint bottle 2- put the hint bottle in the cardboard box 3- Grasp the water bottle 4- Place the water bottle into the cardboard box Q: immediate next step? \u003cPRED\u003eA: drop the holder into the cardboard box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the hint water, the water bottle and the mesh cup into the box Q: immediate next step? \u003cPRED\u003eA: drop the holder into the cardboard box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the holder into 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: drop the holder into the cardboard box\n\u003c/PRED\u003e","video":"2881132238426752153.mp4"}
+{"uid":"14127647100106905800","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the hint bottle into the cardboard box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop the hint bottle into 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":"3806960956985108361.mp4"}
+{"uid":"2917238003172197936","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the black holder in the cardboard box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the black holder 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\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the hint water, the water bottle and the mesh cup into the box. last 20 steps: 1- Pick up the bottom right hint bottle 2- put the hint bottle in the cardboard box 3- Grasp the water bottle 4- Place the water bottle into the cardboard box 5- pick the black holder from the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the black holder in the cardboard box 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the hint water, the water bottle and the mesh cup into the box Q: immediate next step? \u003cPRED\u003eA: place the black holder in the cardboard box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the black holder 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 put the hint water, the water bottle and the mesh cup into the box. last 20 steps: 1- Pick up the bottom right hint bottle 2- put the hint bottle in the cardboard box 3- Grasp the water bottle 4- Place the water bottle into the cardboard box 5- pick the black holder from the table Q: immediate next step? \u003cPRED\u003eA: place the black holder in the cardboard box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the black holder in the cardboard box\n\u003c/PRED\u003e","video":"6522453020401421154.mp4"}
+{"uid":"13769888610583055621","text":"\u003ctask:success:discrete:True\u003e\npick the black holder 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 black holder from the table\n\u003c/PRED\u003e","video":"15768658017369127183.mp4"}
+{"uid":"18224874815329819768","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace sticky note 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":"12739806566349009110.mp4"}
+{"uid":"526431037302942773","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the hint water, the water bottle and the mesh cup into the box. last 20 steps: 1- Pick up the bottom right hint bottle 2- put the hint bottle in the cardboard box Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the water bottle 2- pick the black holder from the table 3- place the black holder in the cardboard box 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the hint water, the water bottle and the mesh cup into the box. last 20 steps: 1- Pick up the bottom right hint bottle 2- put the hint bottle in the cardboard box Q: immediate next step? \u003cPRED\u003eA: pick up the water bottle\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the water bottle\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the hint water, the water bottle and the mesh cup into the box Q: immediate next step? \u003cPRED\u003eA: pick up the water bottle\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: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","video":"7064287513127580943.mp4"}
+{"uid":"2775863854738514494","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick  the plastic cup with black pebbles Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12314695474680630701.mp4"}
+{"uid":"13582595864208929978","text":"\u003ctask:success:discrete:True\u003e\ndrop 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 on the floor\n\u003c/PRED\u003e","video":"13989876258894461664.mp4"}
+{"uid":"2682943091774694695","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":"17914236598174122998.mp4"}
+{"uid":"4489523463551577421","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the hint water, the water bottle and the mesh cup into the box Q: immediate next step? \u003cPRED\u003eA: Grasp the water bottle\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nGrasp 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Grasp the water bottle\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the hint water, the water bottle and the mesh cup into the box. last 20 steps: 1- Pick up the bottom right hint bottle 2- put the hint bottle in the cardboard box Q: next 5 steps? \u003cPRED\u003eA: 1- Grasp the water bottle 2- Place the water bottle into the cardboard box 3- pick the black holder from the table 4- place the black holder in the cardboard box 5- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Grasp the water bottle\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nGrasp 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: please put the hint water, the water bottle and the mesh cup into the box. last 20 steps: 1- Pick up the bottom right hint bottle 2- put the hint bottle in the cardboard box Q: immediate next step? \u003cPRED\u003eA: Grasp the water bottle\n\u003c/PRED\u003e","video":"14467294516638891883.mp4"}
+{"uid":"12132600968105368522","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":"8130258395939192714.mp4"}
+{"uid":"11124400203548580796","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove the bowl 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":"2602879198824890483.mp4"}
+{"uid":"8612302127606297495","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick the strainer on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14083216303659649708.mp4"}
+{"uid":"3092432053814356418","text":"\u003ctask:success:discrete:False\u003e\ndrop the water bottle into 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 put the hint water, the water bottle and the mesh cup into the box. last 20 steps: 1- Pick up the bottom right hint bottle 2- put the hint bottle in the cardboard box 3- Grasp the water bottle Q: immediate next step? \u003cPRED\u003eA: drop the water bottle into the cardboard box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the water bottle into the cardboard box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the water bottle into the cardboard box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the hint water, the water bottle and the mesh cup into the box Q: immediate next step? \u003cPRED\u003eA: drop the water bottle into the cardboard box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the hint water, the water bottle and the mesh cup into the box. last 20 steps: 1- Pick up the bottom right hint bottle 2- put the hint bottle in the cardboard box 3- Grasp the water bottle Q: next 5 steps? \u003cPRED\u003eA: 1- drop the water bottle into the cardboard box 2- pick the black holder from the table 3- place the black holder in the cardboard box 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the water bottle into 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":"14330002043087661501.mp4"}
+{"uid":"11267905900684823412","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the water bottle into the cardboard box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the water bottle into 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 put the hint water, the water bottle and the mesh cup into the box. last 20 steps: 1- Pick up the bottom right hint bottle 2- put the hint bottle in the cardboard box 3- Grasp the water bottle Q: next 5 steps? \u003cPRED\u003eA: 1- Place the water bottle into the cardboard box 2- pick the black holder from the table 3- place the black holder in the cardboard box 4- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the hint water, the water bottle and the mesh cup into the box Q: immediate next step? \u003cPRED\u003eA: Place the water bottle into the cardboard box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the hint water, the water bottle and the mesh cup into the box. last 20 steps: 1- Pick up the bottom right hint bottle 2- put the hint bottle in the cardboard box 3- Grasp the water bottle Q: immediate next step? \u003cPRED\u003eA: Place the water bottle into the cardboard box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the water bottle into the cardboard box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the water bottle into 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":"1396751100255644092.mp4"}
+{"uid":"15273983316844707372","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the water bottle into the cardboard box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the water bottle into 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":"14280484586885734606.mp4"}
+{"uid":"9339929356040836884","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace tissue on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5806827530258139277.mp4"}
+{"uid":"263874511784067210","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the hint bottle\n\u003c/PRED\u003e\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: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: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\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the hint water, the water bottle and the mesh cup into the box. last 20 steps: none 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: please put the hint water, the water bottle and the mesh cup into the box. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the hint bottle 2- put the hint bottle in the cardboard box 3- Grasp the water bottle 4- Place the water bottle into the cardboard box 5- pick the black holder from the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the hint water, the water bottle and the mesh cup into the box Q: immediate next step? \u003cPRED\u003eA: pick up the hint bottle\n\u003c/PRED\u003e","video":"11267324249374853866.mp4"}
+{"uid":"14481150920512870990","text":"\u003ctask:success:discrete:False\u003e\nRelease the bottle into 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: Release the bottle into the cardboard box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the hint water, the water bottle and the mesh cup into the box Q: immediate next step? \u003cPRED\u003eA: Release the bottle into the cardboard box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the hint water, the water bottle and the mesh cup into the box. last 20 steps: 1- Pick up the bottom right hint bottle Q: immediate next step? \u003cPRED\u003eA: Release the bottle into the cardboard box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Release the bottle into the cardboard box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nRelease the bottle into 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the hint water, the water bottle and the mesh cup into the box. last 20 steps: 1- Pick up the bottom right hint bottle Q: next 5 steps? \u003cPRED\u003eA: 1- Release the bottle into the cardboard box 2- Grasp the water bottle 3- Place the water bottle into the cardboard box 4- pick the black holder from the table 5- place the black holder in the cardboard box\n\u003c/PRED\u003e","video":"10589644598231848633.mp4"}
+{"uid":"2299345431002834923","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the hint water, the water bottle and the mesh cup into the box Q: immediate next step? \u003cPRED\u003eA: place the water bottle in the cardboard box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the water bottle in the cardboard box\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 cardboard box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the water bottle 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\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the hint water, the water bottle and the mesh cup into the box. last 20 steps: 1- Pick up the bottom right hint bottle 2- put the hint bottle in the cardboard box 3- Grasp the water bottle Q: immediate next step? \u003cPRED\u003eA: place the water bottle in the cardboard box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the water bottle 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 put the hint water, the water bottle and the mesh cup into the box. last 20 steps: 1- Pick up the bottom right hint bottle 2- put the hint bottle in the cardboard box 3- Grasp the water bottle Q: next 5 steps? \u003cPRED\u003eA: 1- place the water bottle in the cardboard box 2- pick the black holder from the table 3- place the black holder in the cardboard box 4- done\n\u003c/PRED\u003e","video":"3792494070006088320.mp4"}
+{"uid":"99431081768727068","text":"\u003ctask:success:discrete:True\u003e\npick the hint 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 the hint bottle from the table\n\u003c/PRED\u003e","video":"5708796181376066721.mp4"}
+{"uid":"12609998851118230416","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Pick up the bottom right hint bottle\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPick up the bottom right hint 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":"6019217408669689823.mp4"}
+{"uid":"16464783377943970706","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput one glass on another Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1358746872269481982.mp4"}
+{"uid":"12851207886128718881","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop on the floor\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please throw away the used disinfectant wipe. last 20 steps: 1- pick up tissue Q: immediate next step? \u003cPRED\u003eA: drop on the floor\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop 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: Please throw away the used disinfectant wipe. Q: immediate next step? \u003cPRED\u003eA: drop on the floor\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please throw away the used disinfectant wipe. last 20 steps: 1- pick up tissue Q: next 5 steps? \u003cPRED\u003eA: 1- drop on the floor 2- open the door 3- pick up tissue 4- leave the room 5- put tissue in the dust bin\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop 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: drop on the floor\n\u003c/PRED\u003e","video":"13971092716725585549.mp4"}
+{"uid":"9774695783254788732","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":"5338966091437887968.mp4"}
+{"uid":"16961136502172109238","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the hint bottle in the cardboard box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the hint bottle 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":"6757669070617821904.mp4"}
+{"uid":"17385846251403259352","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up the yellow 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":"10435151134224820176.mp4"}
+{"uid":"4440026605943203923","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the hint water, the water bottle and the mesh cup into the box. last 20 steps: 1- Pick up the bottom right hint bottle 2- put the hint bottle in the cardboard box 3- Grasp the water bottle 4- Place the water bottle into the cardboard box 5- drop the holder into the cardboard box Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop the holder into 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 put the hint water, the water bottle and the mesh cup into the box. last 20 steps: 1- Pick up the bottom right hint bottle 2- put the hint bottle in the cardboard box 3- Grasp the water bottle 4- Place the water bottle into the cardboard box 5- drop the holder into the cardboard box Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the hint water, the water bottle and the mesh cup into 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 holder into the cardboard box\n\u003c/PRED\u003e","video":"17686315346296006831.mp4"}
+{"uid":"4857551223375580908","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the hint water, the water bottle and the mesh cup into the box Q: immediate next step? \u003cPRED\u003eA: Release the black holder into the cardboard box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Release the black holder into the cardboard box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nRelease the black holder into 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: Release the black holder into the cardboard box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nRelease the black holder into 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the hint water, the water bottle and the mesh cup into the box. last 20 steps: 1- Pick up the bottom right hint bottle 2- put the hint bottle in the cardboard box 3- Grasp the water bottle 4- Place the water bottle into the cardboard box Q: next 5 steps? \u003cPRED\u003eA: 1- Release the black holder into the cardboard box 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the hint water, the water bottle and the mesh cup into the box. last 20 steps: 1- Pick up the bottom right hint bottle 2- put the hint bottle in the cardboard box 3- Grasp the water bottle 4- Place the water bottle into the cardboard box Q: immediate next step? \u003cPRED\u003eA: Release the black holder into the cardboard box\n\u003c/PRED\u003e","video":"8727915553412733786.mp4"}
+{"uid":"13194972164371717","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput yellow packet on left 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":"3925550686154114599.mp4"}
+{"uid":"14171010649515363984","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ngo 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":"17444470769063780848.mp4"}
+{"uid":"14945034690046697142","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Grasp the water bottle\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nGrasp the water 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":"10787192530130333220.mp4"}
+{"uid":"17202940022591351762","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the hint bottle into the cardboard box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the hint water, the water bottle and the mesh cup into the box. last 20 steps: 1- Pick up the bottom right hint bottle Q: next 5 steps? \u003cPRED\u003eA: 1- drop the hint bottle into the cardboard box 2- Grasp the water bottle 3- Place the water bottle into the cardboard box 4- pick the black holder from the table 5- place the black holder in the cardboard box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the hint water, the water bottle and the mesh cup into the box Q: immediate next step? \u003cPRED\u003eA: drop the hint bottle into the cardboard 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 cardboard box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the hint bottle into 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 put the hint water, the water bottle and the mesh cup into the box. last 20 steps: 1- Pick up the bottom right hint bottle Q: immediate next step? \u003cPRED\u003eA: drop the hint bottle into the cardboard box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the hint bottle into 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":"11252756602720921702.mp4"}
+{"uid":"9358265353591299769","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the water bottle from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the water 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the hint water, the water bottle and the mesh cup into the box. last 20 steps: 1- Pick up the bottom right hint bottle 2- put the hint bottle in the cardboard box Q: immediate next step? \u003cPRED\u003eA: pick the water bottle from the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the water 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 the water bottle from the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the hint water, the water bottle and the mesh cup into the box. last 20 steps: 1- Pick up the bottom right hint bottle 2- put the hint bottle in the cardboard box Q: next 5 steps? \u003cPRED\u003eA: 1- pick the water bottle from the table 2- pick the black holder from the table 3- place the black holder in the cardboard box 4- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the hint water, the water bottle and the mesh cup into the box Q: immediate next step? \u003cPRED\u003eA: pick the water bottle from the table\n\u003c/PRED\u003e","video":"15942561402763072661.mp4"}
+{"uid":"12740435660626731075","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":"9961926534332211511.mp4"}
+{"uid":"12077185886518627164","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\npick up 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: Please throw away the used disinfectant wipe. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: pick up tissue\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please throw away the used disinfectant wipe. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- pick up tissue 2- drop on the floor 3- open the door 4- pick up tissue 5- leave the room\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up tissue\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up tissue\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up 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:planning:freeform\u003e\ncurrent goal is: Please throw away the used disinfectant wipe. Q: immediate next step? \u003cPRED\u003eA: pick up tissue\n\u003c/PRED\u003e","video":"12182750488583267485.mp4"}
+{"uid":"2971435515190310849","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nRelease the blue highlighter on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15183420202198462207.mp4"}
+{"uid":"9468964673224323621","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nturn on 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":"14786740635938197447.mp4"}
+{"uid":"9693217375385972624","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: stack a cups\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: stock the spinning rack with cups Q: immediate next step? \u003cPRED\u003eA: stack a cups\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: stock the spinning rack with cups. last 20 steps: 1- put cups in stand 2- put cups in stand 3- adjust the stand 4- put cups in stand 5- adjust the stand 6- put cups in stand 7- adjust the stand 8- stack a cups 9- stack a cup 10- stack a cups 11- adjust the stand 12- stack a cups Q: immediate next step? \u003cPRED\u003eA: stack a cups\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: stack a cups\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nstack a 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: stock the spinning rack with cups. last 20 steps: 1- put cups in stand 2- put cups in stand 3- adjust the stand 4- put cups in stand 5- adjust the stand 6- put cups in stand 7- adjust the stand 8- stack a cups 9- stack a cup 10- stack a cups 11- adjust the stand 12- stack a cups Q: next 5 steps? \u003cPRED\u003eA: 1- stack a cups 2- adjust the stand 3- stack a cups 4- stack a cups 5- adjust the stand\n\u003c/PRED\u003e","video":"5928429028173025511.mp4"}
+{"uid":"5882098773571096075","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: adjust the stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nadjust 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: stock the spinning rack with cups Q: immediate next step? \u003cPRED\u003eA: adjust the stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: stock the spinning rack with cups. last 20 steps: 1- put cups in stand 2- put cups in stand 3- adjust the stand 4- put cups in stand 5- adjust the stand 6- put cups in stand 7- adjust the stand 8- stack a cups 9- stack a cup 10- stack a cups 11- adjust the stand 12- stack a cups 13- stack a cups Q: next 5 steps? \u003cPRED\u003eA: 1- adjust the stand 2- stack a cups 3- stack a cups 4- adjust the stand 5- stack a cups\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: stock the spinning rack with cups. last 20 steps: 1- put cups in stand 2- put cups in stand 3- adjust the stand 4- put cups in stand 5- adjust the stand 6- put cups in stand 7- adjust the stand 8- stack a cups 9- stack a cup 10- stack a cups 11- adjust the stand 12- stack a cups 13- stack a cups Q: immediate next step? \u003cPRED\u003eA: adjust the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nadjust 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: adjust the stand\n\u003c/PRED\u003e","video":"18212880421377232968.mp4"}
+{"uid":"15129558126956998823","text":"\u003ctask:success:discrete:False\u003e\nadjust 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: stock the spinning rack with cups. last 20 steps: 1- put cups in stand 2- put cups in stand Q: immediate next step? \u003cPRED\u003eA: adjust the stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: stock the spinning rack with cups Q: immediate next step? \u003cPRED\u003eA: adjust the stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nadjust 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: stock the spinning rack with cups. last 20 steps: 1- put cups in stand 2- put cups in stand Q: next 5 steps? \u003cPRED\u003eA: 1- adjust the stand 2- put cups in stand 3- adjust the stand 4- put cups in stand 5- adjust the stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: adjust the stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: adjust the stand\n\u003c/PRED\u003e","video":"9122410030291573680.mp4"}
+{"uid":"9479970338052139011","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":"16810924163971743734.mp4"}
+{"uid":"14891017368166059750","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: stack a cups\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nstack a cups Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2407398803111016584.mp4"}
+{"uid":"14474362330016930571","text":"\u003ctask:success:discrete:True\u003e\nstack a cups Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\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 a cups\n\u003c/PRED\u003e","video":"8359884145768987158.mp4"}
+{"uid":"10141810931090826446","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the glass 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":"985788962338262561.mp4"}
+{"uid":"7459874567626944064","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put cups in stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: stock the spinning rack with cups. last 20 steps: 1- put cups in stand Q: next 5 steps? \u003cPRED\u003eA: 1- put cups in stand 2- adjust the stand 3- put cups in stand 4- adjust the stand 5- put cups in stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: stock the spinning rack with cups Q: immediate next step? \u003cPRED\u003eA: put cups in stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put cups in stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput cups 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: stock the spinning rack with cups. last 20 steps: 1- put cups in stand Q: immediate next step? \u003cPRED\u003eA: put cups in stand\n\u003c/PRED\u003e","video":"6533710854845093317.mp4"}
+{"uid":"13353660608563446796","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nstack a 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: stock the spinning rack with cups. last 20 steps: 1- put cups in stand 2- put cups in stand 3- adjust the stand 4- put cups in stand 5- adjust the stand 6- put cups in stand 7- adjust the stand 8- stack a cups 9- stack a cup 10- stack a cups 11- adjust the stand Q: next 5 steps? \u003cPRED\u003eA: 1- stack a cups 2- stack a cups 3- adjust the stand 4- stack a cups 5- stack a cups\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: stock the spinning rack with cups Q: immediate next step? \u003cPRED\u003eA: stack a cups\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: stack a cups\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: stack a cups\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nstack a 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: stock the spinning rack with cups. last 20 steps: 1- put cups in stand 2- put cups in stand 3- adjust the stand 4- put cups in stand 5- adjust the stand 6- put cups in stand 7- adjust the stand 8- stack a cups 9- stack a cup 10- stack a cups 11- adjust the stand Q: immediate next step? \u003cPRED\u003eA: stack a cups\n\u003c/PRED\u003e","video":"15054692883988403594.mp4"}
+{"uid":"11983556399775872761","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nstack a 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: stack a cups\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: stock the spinning rack with cups. last 20 steps: 1- put cups in stand 2- put cups in stand 3- adjust the stand 4- put cups in stand 5- adjust the stand 6- put cups in stand 7- adjust the stand 8- stack a cups 9- stack a cup 10- stack a cups 11- adjust the stand 12- stack a cups 13- stack a cups 14- adjust the stand Q: next 5 steps? \u003cPRED\u003eA: 1- stack a cups 2- stack a cups 3- adjust the stand 4- stack a cups 5- adjust the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nstack a 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:planning:freeform\u003e\ncurrent goal is: stock the spinning rack with cups Q: immediate next step? \u003cPRED\u003eA: stack a cups\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: stock the spinning rack with cups. last 20 steps: 1- put cups in stand 2- put cups in stand 3- adjust the stand 4- put cups in stand 5- adjust the stand 6- put cups in stand 7- adjust the stand 8- stack a cups 9- stack a cup 10- stack a cups 11- adjust the stand 12- stack a cups 13- stack a cups 14- adjust the stand Q: immediate next step? \u003cPRED\u003eA: stack a cups\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: stack a cups\n\u003c/PRED\u003e","video":"12596420864074534383.mp4"}
+{"uid":"1887415100130378085","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: stock the spinning rack with cups Q: immediate next step? \u003cPRED\u003eA: stack a cups\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nstack a 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: stock the spinning rack with cups. last 20 steps: 1- put cups in stand 2- put cups in stand 3- adjust the stand 4- put cups in stand 5- adjust the stand 6- put cups in stand 7- adjust the stand 8- stack a cups 9- stack a cup 10- stack a cups 11- adjust the stand 12- stack a cups 13- stack a cups 14- adjust the stand 15- stack a cups 16- stack a cups 17- adjust the stand 18- stack a cups 19- adjust the stand Q: immediate next step? \u003cPRED\u003eA: stack a cups\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: stock the spinning rack with cups. last 20 steps: 1- put cups in stand 2- put cups in stand 3- adjust the stand 4- put cups in stand 5- adjust the stand 6- put cups in stand 7- adjust the stand 8- stack a cups 9- stack a cup 10- stack a cups 11- adjust the stand 12- stack a cups 13- stack a cups 14- adjust the stand 15- stack a cups 16- stack a cups 17- adjust the stand 18- stack a cups 19- adjust the stand Q: next 5 steps? \u003cPRED\u003eA: 1- stack a cups 2- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nstack a 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: stack a cups\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: stack a cups\n\u003c/PRED\u003e","video":"16947214535677545925.mp4"}
+{"uid":"16868573845713760810","text":"\u003ctask:success:discrete:False\u003e\nadjust 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: stock the spinning rack with cups. last 20 steps: 1- put cups in stand 2- put cups in stand 3- adjust the stand 4- put cups in stand 5- adjust the stand 6- put cups in stand Q: next 5 steps? \u003cPRED\u003eA: 1- adjust the stand 2- stack a cups 3- stack a cup 4- stack a cups 5- adjust the stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: stock the spinning rack with cups Q: immediate next step? \u003cPRED\u003eA: adjust the stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: adjust the stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: stock the spinning rack with cups. last 20 steps: 1- put cups in stand 2- put cups in stand 3- adjust the stand 4- put cups in stand 5- adjust the stand 6- put cups in stand Q: immediate next step? \u003cPRED\u003eA: adjust the stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: adjust the stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nadjust 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":"3228025312100894885.mp4"}
+{"uid":"421924911545830024","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: stock the spinning rack with cups. last 20 steps: 1- put cups in stand 2- put cups in stand 3- adjust the stand 4- put cups in stand 5- adjust the stand 6- put cups in stand 7- adjust the stand 8- stack a cups Q: immediate next step? \u003cPRED\u003eA: stack a cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nstack 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\u003ctask:affordance:discriminative:discrete:True\u003e\nstack 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:planning:freeform\u003e\ncurrent goal is: stock the spinning rack with cups Q: immediate next step? \u003cPRED\u003eA: stack a cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: stock the spinning rack with cups. last 20 steps: 1- put cups in stand 2- put cups in stand 3- adjust the stand 4- put cups in stand 5- adjust the stand 6- put cups in stand 7- adjust the stand 8- stack a cups Q: next 5 steps? \u003cPRED\u003eA: 1- stack a cup 2- stack a cups 3- adjust the stand 4- stack a cups 5- stack a cups\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: stack a cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: stack a cup\n\u003c/PRED\u003e","video":"608022484596896262.mp4"}
+{"uid":"16927056267949717818","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: stock the spinning rack with cups. last 20 steps: 1- put cups in stand 2- put cups in stand 3- adjust the stand 4- put cups in stand 5- adjust the stand 6- put cups in stand 7- adjust the stand 8- stack a cups 9- stack a cup 10- stack a cups 11- adjust the stand 12- stack a cups 13- stack a cups 14- adjust the stand 15- stack a cups 16- stack a cups 17- adjust the stand 18- stack a cups 19- adjust the stand 20- stack a cups Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: stock the spinning rack with cups Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: stock the spinning rack with cups. last 20 steps: 1- put cups in stand 2- put cups in stand 3- adjust the stand 4- put cups in stand 5- adjust the stand 6- put cups in stand 7- adjust the stand 8- stack a cups 9- stack a cup 10- stack a cups 11- adjust the stand 12- stack a cups 13- stack a cups 14- adjust the stand 15- stack a cups 16- stack a cups 17- adjust the stand 18- stack a cups 19- adjust the stand 20- stack a cups Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nstack a cups Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\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 a cups\n\u003c/PRED\u003e","video":"2244091017756201260.mp4"}
+{"uid":"2915438708766198057","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: stack a cups\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nstack a 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:planning:freeform\u003e\ncurrent goal is: stock the spinning rack with cups Q: immediate next step? \u003cPRED\u003eA: stack a cups\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: stack a cups\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: stock the spinning rack with cups. last 20 steps: 1- put cups in stand 2- put cups in stand 3- adjust the stand 4- put cups in stand 5- adjust the stand 6- put cups in stand 7- adjust the stand 8- stack a cups 9- stack a cup 10- stack a cups 11- adjust the stand 12- stack a cups 13- stack a cups 14- adjust the stand 15- stack a cups Q: next 5 steps? \u003cPRED\u003eA: 1- stack a cups 2- adjust the stand 3- stack a cups 4- adjust the stand 5- stack a cups\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: stock the spinning rack with cups. last 20 steps: 1- put cups in stand 2- put cups in stand 3- adjust the stand 4- put cups in stand 5- adjust the stand 6- put cups in stand 7- adjust the stand 8- stack a cups 9- stack a cup 10- stack a cups 11- adjust the stand 12- stack a cups 13- stack a cups 14- adjust the stand 15- stack a cups Q: immediate next step? \u003cPRED\u003eA: stack a cups\n\u003c/PRED\u003e","video":"15975736679483242812.mp4"}
+{"uid":"6665582060413061435","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":"7132590686700244465.mp4"}
+{"uid":"13221928109836138070","text":"\u003ctask:success:discrete:True\u003e\nstack a cups Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\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 a cups\n\u003c/PRED\u003e","video":"6701539820329178346.mp4"}
+{"uid":"12572144444337067562","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the fruit 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":"16605446613058793152.mp4"}
+{"uid":"5110333328119879801","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up 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":"10679867666665979400.mp4"}
+{"uid":"8908882675679073794","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":"4851218348868861227.mp4"}
+{"uid":"12936749231942651529","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: stack a cups\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: stock the spinning rack with cups. last 20 steps: 1- put cups in stand 2- put cups in stand 3- adjust the stand 4- put cups in stand 5- adjust the stand 6- put cups in stand 7- adjust the stand Q: next 5 steps? \u003cPRED\u003eA: 1- stack a cups 2- stack a cup 3- stack a cups 4- adjust the stand 5- stack a cups\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: stock the spinning rack with cups. last 20 steps: 1- put cups in stand 2- put cups in stand 3- adjust the stand 4- put cups in stand 5- adjust the stand 6- put cups in stand 7- adjust the stand Q: immediate next step? \u003cPRED\u003eA: stack a cups\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: stock the spinning rack with cups Q: immediate next step? \u003cPRED\u003eA: stack a cups\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nstack a 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: stack a cups\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nstack a 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","video":"13757483523006847975.mp4"}
+{"uid":"6886445135453712268","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: stock the spinning rack with cups. last 20 steps: 1- put cups in stand 2- put cups in stand 3- adjust the stand 4- put cups in stand Q: next 5 steps? \u003cPRED\u003eA: 1- adjust the stand 2- put cups in stand 3- adjust the stand 4- stack a cups 5- stack a cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: adjust the stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: stock the spinning rack with cups. last 20 steps: 1- put cups in stand 2- put cups in stand 3- adjust the stand 4- put cups in stand Q: immediate next step? \u003cPRED\u003eA: adjust the stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: adjust the stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nadjust 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\nadjust 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: stock the spinning rack with cups Q: immediate next step? \u003cPRED\u003eA: adjust the stand\n\u003c/PRED\u003e","video":"1202448887023120618.mp4"}
+{"uid":"17902135275891431299","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nclean the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12195307770030074357.mp4"}
+{"uid":"5000600517615481917","text":"\u003ctask:success:discrete:True\u003e\nadjust 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: adjust the stand\n\u003c/PRED\u003e","video":"2877087922186445584.mp4"}
+{"uid":"593251281916888686","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPush tray to corner Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14764249481435338844.mp4"}
+{"uid":"3944398430518153877","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":"3383587323694830581.mp4"}
+{"uid":"14799401647289008461","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nrelease the popcorn packet in the 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":"11343427490859498806.mp4"}
+{"uid":"5794814886463355659","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":"5235830381512337457.mp4"}
+{"uid":"15514283422389162105","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":"13280011065330815828.mp4"}
+{"uid":"2942390655004539964","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":"6542012323401263407.mp4"}
+{"uid":"7966822399370328463","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput 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":"2915339062614246121.mp4"}
+{"uid":"14467775191635276414","text":"\u003ctask:success:discrete:True\u003e\nstack a cups Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\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 a cups\n\u003c/PRED\u003e","video":"14536822143760737762.mp4"}
+{"uid":"3786161078321979073","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: stock the spinning rack with cups. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put cups in stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: stock the spinning rack with cups Q: immediate next step? \u003cPRED\u003eA: put cups in stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput cups 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:success:discrete:False\u003e\nput cups 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: stock the spinning rack with cups. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put cups in stand 2- put cups in stand 3- adjust the stand 4- put cups in stand 5- adjust the stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put cups in stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put cups in stand\n\u003c/PRED\u003e","video":"15461716147699486967.mp4"}
+{"uid":"177000623300488555","text":"\u003ctask:success:discrete:True\u003e\nput cups 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\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put cups in stand\n\u003c/PRED\u003e","video":"8180796172388592369.mp4"}
+{"uid":"14246048766449061868","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put cups in stand\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput cups 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":"6193235098967521717.mp4"}
+{"uid":"1919085511469187811","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the packet 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":"741347486035173725.mp4"}
+{"uid":"6387375732473972837","text":"\u003ctask:success:discrete:True\u003e\nstack 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\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: stack a cup\n\u003c/PRED\u003e","video":"11933981799147162072.mp4"}
+{"uid":"14997227896184781924","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: stock the spinning rack with cups. last 20 steps: 1- put cups in stand 2- put cups in stand 3- adjust the stand 4- put cups in stand 5- adjust the stand 6- put cups in stand 7- adjust the stand 8- stack a cups 9- stack a cup 10- stack a cups 11- adjust the stand 12- stack a cups 13- stack a cups 14- adjust the stand 15- stack a cups 16- stack a cups 17- adjust the stand 18- stack a cups Q: immediate next step? \u003cPRED\u003eA: adjust the stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nadjust 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\nadjust 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: adjust the stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: adjust the stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: stock the spinning rack with cups. last 20 steps: 1- put cups in stand 2- put cups in stand 3- adjust the stand 4- put cups in stand 5- adjust the stand 6- put cups in stand 7- adjust the stand 8- stack a cups 9- stack a cup 10- stack a cups 11- adjust the stand 12- stack a cups 13- stack a cups 14- adjust the stand 15- stack a cups 16- stack a cups 17- adjust the stand 18- stack a cups Q: next 5 steps? \u003cPRED\u003eA: 1- adjust the stand 2- stack a cups 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: stock the spinning rack with cups Q: immediate next step? \u003cPRED\u003eA: adjust the stand\n\u003c/PRED\u003e","video":"11498278010197858667.mp4"}
+{"uid":"10369017756920608414","text":"\u003ctask:success:discrete:False\u003e\nput cups 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: stock the spinning rack with cups. last 20 steps: 1- put cups in stand 2- put cups in stand 3- adjust the stand 4- put cups in stand 5- adjust the stand Q: next 5 steps? \u003cPRED\u003eA: 1- put cups in stand 2- adjust the stand 3- stack a cups 4- stack a cup 5- stack a cups\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput cups 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put cups in stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: stock the spinning rack with cups. last 20 steps: 1- put cups in stand 2- put cups in stand 3- adjust the stand 4- put cups in stand 5- adjust the stand Q: immediate next step? \u003cPRED\u003eA: put cups in stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put cups in stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: stock the spinning rack with cups Q: immediate next step? \u003cPRED\u003eA: put cups in stand\n\u003c/PRED\u003e","video":"8479937089035160498.mp4"}
+{"uid":"13594804977470865035","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":"12971661126336830811.mp4"}
+{"uid":"1378249579891773706","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":"4830603988517230739.mp4"}
+{"uid":"8533524686698789718","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: stock the spinning rack with cups. last 20 steps: 1- put cups in stand 2- put cups in stand 3- adjust the stand Q: immediate next step? \u003cPRED\u003eA: put cups in stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput cups 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put cups in stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: stock the spinning rack with cups Q: immediate next step? \u003cPRED\u003eA: put cups in stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put cups in stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: stock the spinning rack with cups. last 20 steps: 1- put cups in stand 2- put cups in stand 3- adjust the stand Q: next 5 steps? \u003cPRED\u003eA: 1- put cups in stand 2- adjust the stand 3- put cups in stand 4- adjust the stand 5- stack a cups\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput cups 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":"10269216204300757454.mp4"}
+{"uid":"2778025725909676144","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put cups in stand\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput cups 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":"4930534284048151042.mp4"}
+{"uid":"1794103805206350106","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: stock the spinning rack with cups Q: immediate next step? \u003cPRED\u003eA: stack a cups\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: stock the spinning rack with cups. last 20 steps: 1- put cups in stand 2- put cups in stand 3- adjust the stand 4- put cups in stand 5- adjust the stand 6- put cups in stand 7- adjust the stand 8- stack a cups 9- stack a cup 10- stack a cups 11- adjust the stand 12- stack a cups 13- stack a cups 14- adjust the stand 15- stack a cups 16- stack a cups 17- adjust the stand Q: immediate next step? \u003cPRED\u003eA: stack a cups\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: stack a cups\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nstack a 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:success:discrete:False\u003e\nstack a 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: stock the spinning rack with cups. last 20 steps: 1- put cups in stand 2- put cups in stand 3- adjust the stand 4- put cups in stand 5- adjust the stand 6- put cups in stand 7- adjust the stand 8- stack a cups 9- stack a cup 10- stack a cups 11- adjust the stand 12- stack a cups 13- stack a cups 14- adjust the stand 15- stack a cups 16- stack a cups 17- adjust the stand Q: next 5 steps? \u003cPRED\u003eA: 1- stack a cups 2- adjust the stand 3- stack a cups 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: stack a cups\n\u003c/PRED\u003e","video":"17916632390946439987.mp4"}
+{"uid":"12813147862057355533","text":"\u003ctask:success:discrete:True\u003e\nadjust 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: adjust the stand\n\u003c/PRED\u003e","video":"8170238598409089361.mp4"}
+{"uid":"17688466740936017373","text":"\u003ctask:success:discrete:True\u003e\nstack a cups Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\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 a cups\n\u003c/PRED\u003e","video":"13954054466058120893.mp4"}
+{"uid":"8168910885533069748","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: adjust the stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: stock the spinning rack with cups. last 20 steps: 1- put cups in stand 2- put cups in stand 3- adjust the stand 4- put cups in stand 5- adjust the stand 6- put cups in stand 7- adjust the stand 8- stack a cups 9- stack a cup 10- stack a cups Q: immediate next step? \u003cPRED\u003eA: adjust the stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nadjust 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\nadjust 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: stock the spinning rack with cups. last 20 steps: 1- put cups in stand 2- put cups in stand 3- adjust the stand 4- put cups in stand 5- adjust the stand 6- put cups in stand 7- adjust the stand 8- stack a cups 9- stack a cup 10- stack a cups Q: next 5 steps? \u003cPRED\u003eA: 1- adjust the stand 2- stack a cups 3- stack a cups 4- adjust the stand 5- stack a cups\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: stock the spinning rack with cups Q: immediate next step? \u003cPRED\u003eA: adjust the stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: adjust the stand\n\u003c/PRED\u003e","video":"8918823174920665499.mp4"}
+{"uid":"11571379533747815533","text":"\u003ctask:success:discrete:True\u003e\nstack a cups Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\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 a cups\n\u003c/PRED\u003e","video":"4167614822703312443.mp4"}
+{"uid":"1305855938071857669","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the yellow object on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8009432287277137057.mp4"}
+{"uid":"13253637062445561473","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the smart food packet in the tray in a queue Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15460361863397794960.mp4"}
+{"uid":"1578259970127072871","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: stack a cups\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nstack a cups Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1060261280301203886.mp4"}
+{"uid":"16267002445765718655","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: stock the spinning rack with cups. last 20 steps: 1- put cups in stand 2- put cups in stand 3- adjust the stand 4- put cups in stand 5- adjust the stand 6- put cups in stand 7- adjust the stand 8- stack a cups 9- stack a cup 10- stack a cups 11- adjust the stand 12- stack a cups 13- stack a cups 14- adjust the stand 15- stack a cups 16- stack a cups Q: immediate next step? \u003cPRED\u003eA: adjust the stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: stock the spinning rack with cups Q: immediate next step? \u003cPRED\u003eA: adjust the stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: stock the spinning rack with cups. last 20 steps: 1- put cups in stand 2- put cups in stand 3- adjust the stand 4- put cups in stand 5- adjust the stand 6- put cups in stand 7- adjust the stand 8- stack a cups 9- stack a cup 10- stack a cups 11- adjust the stand 12- stack a cups 13- stack a cups 14- adjust the stand 15- stack a cups 16- stack a cups Q: next 5 steps? \u003cPRED\u003eA: 1- adjust the stand 2- stack a cups 3- adjust the stand 4- stack a cups 5- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: adjust the stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nadjust 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\nadjust 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: adjust the stand\n\u003c/PRED\u003e","video":"5876022658315837723.mp4"}
+{"uid":"9365719605678562450","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: stock the spinning rack with cups. last 20 steps: 1- put cups in stand 2- put cups in stand 3- adjust the stand 4- put cups in stand 5- adjust the stand 6- put cups in stand 7- adjust the stand 8- stack a cups 9- stack a cup Q: next 5 steps? \u003cPRED\u003eA: 1- stack a cups 2- adjust the stand 3- stack a cups 4- stack a cups 5- adjust the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nstack a 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: stack a cups\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: stock the spinning rack with cups Q: immediate next step? \u003cPRED\u003eA: stack a cups\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: stack a cups\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: stock the spinning rack with cups. last 20 steps: 1- put cups in stand 2- put cups in stand 3- adjust the stand 4- put cups in stand 5- adjust the stand 6- put cups in stand 7- adjust the stand 8- stack a cups 9- stack a cup Q: immediate next step? \u003cPRED\u003eA: stack a cups\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nstack a 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","video":"2241521352681402962.mp4"}
+{"uid":"17450132030516759163","text":"\u003ctask:success:discrete:True\u003e\nadjust 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: adjust the stand\n\u003c/PRED\u003e","video":"5277023859208078466.mp4"}
+{"uid":"10845885508105759532","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":"11025417684716992139.mp4"}
+{"uid":"13642107077487535683","text":"\u003ctask:success:discrete:True\u003e\nput the orange 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 orange in the jar\n\u003c/PRED\u003e","video":"6203408506843369949.mp4"}
+{"uid":"8473632252500495360","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace pink candy inside 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":"7385972668221462420.mp4"}
+{"uid":"11586093013315701919","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please put all the fruits into the jar Q: immediate next step? \u003cPRED\u003eA: put the apple in the jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the apple 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the fruits into the jar. last 20 steps: 1- put the apple into the jar 2- put the apple in the in the jar 3- put the apple into the jar Q: next 5 steps? \u003cPRED\u003eA: 1- put the apple in the jar 2- put the apple into the jar 3- put the orange into the jar 4- pull the jar right 5- put the orange into the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the apple 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the apple in the jar\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the apple in the jar\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the fruits into the jar. last 20 steps: 1- put the apple into the jar 2- put the apple in the in the jar 3- put the apple into the jar Q: immediate next step? \u003cPRED\u003eA: put the apple in the jar\n\u003c/PRED\u003e","video":"13859779997727429922.mp4"}
+{"uid":"10920006028464323189","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the apple 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: please put all the fruits into the jar Q: immediate next step? \u003cPRED\u003eA: put the apple in the jar\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the apple in the jar\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the fruits into the jar. last 20 steps: 1- put the apple into the jar 2- put the apple in the in the jar Q: immediate next step? \u003cPRED\u003eA: put the apple in the jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the apple in the jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the fruits into the jar. last 20 steps: 1- put the apple into the jar 2- put the apple in the in the jar Q: next 5 steps? \u003cPRED\u003eA: 1- put the apple in the jar 2- put the apple into the jar 3- put the apple into the jar 4- put the orange into the jar 5- pull the jar right\n\u003c/PRED\u003e","video":"6102022492136418986.mp4"}
+{"uid":"1742065192786463210","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the green marker on the board 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":"3790694565579292091.mp4"}
+{"uid":"12618306304059075284","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the sticky note on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9152703826370789303.mp4"}
+{"uid":"2670125152329273781","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the orange 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: please put all the fruits into the jar Q: immediate next step? \u003cPRED\u003eA: put the orange in the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the orange 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the fruits into the jar. last 20 steps: 1- put the apple into the jar 2- put the apple in the in the jar 3- put the apple into the jar 4- put the apple into the jar 5- put the apple into the jar 6- put the orange into the jar 7- pull the jar right 8- put the orange into the jar 9- put the orange in the jar 10- put the orange into the jar Q: immediate next step? \u003cPRED\u003eA: put the orange in the jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the orange in the jar\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the orange in the jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the fruits into the jar. last 20 steps: 1- put the apple into the jar 2- put the apple in the in the jar 3- put the apple into the jar 4- put the apple into the jar 5- put the apple into the jar 6- put the orange into the jar 7- pull the jar right 8- put the orange into the jar 9- put the orange in the jar 10- put the orange into the jar Q: next 5 steps? \u003cPRED\u003eA: 1- put the orange in the jar 2- done\n\u003c/PRED\u003e","video":"6849589034216440692.mp4"}
+{"uid":"7283168029210264243","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please put all the fruits into the jar Q: immediate next step? \u003cPRED\u003eA: put the apple in the jar\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the fruits into the jar. last 20 steps: 1- put the apple into the jar 2- put the apple in the in the jar Q: immediate next step? \u003cPRED\u003eA: put the apple in the jar\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the apple in the jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the apple 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the fruits into the jar. last 20 steps: 1- put the apple into the jar 2- put the apple in the in the jar Q: next 5 steps? \u003cPRED\u003eA: 1- put the apple in the jar 2- put the apple into the jar 3- put the apple into the jar 4- put the orange into the jar 5- pull the jar right\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the apple in the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the apple 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","video":"3241792466065072111.mp4"}
+{"uid":"14144572052392395834","text":"\u003ctask:success:discrete:True\u003e\nput the apple 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 apple into the jar\n\u003c/PRED\u003e","video":"4977043214821256574.mp4"}
+{"uid":"11018757188747712873","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put orange packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput 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 orange packet 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 popcorn packet on the table 2- put popcorn packet on the table 3- put popcorn packet on the table 4- put popcorn packet on the table 5- put popcorn packet on the table 6- put orange packet on the table 7- put orange packet on the table Q: immediate next step? \u003cPRED\u003eA: put orange packet 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 orange packet 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 popcorn packet on the table 2- put popcorn packet on the table 3- put popcorn packet on the table 4- put popcorn packet on the table 5- put popcorn packet on the table 6- put orange packet on the table 7- put orange packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put orange packet on the table 2- adjust the tray 3- put orange packet on the table 4- put orange packet on the table 5- done\n\u003c/PRED\u003e","video":"8505050521326287591.mp4"}
+{"uid":"6148303977234818196","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick the black 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":"10540269306740867732.mp4"}
+{"uid":"16219002223166792924","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop pistachio 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":"16325295469838459233.mp4"}
+{"uid":"12456313454341958871","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the apple in the jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put all the fruits into the jar Q: immediate next step? \u003cPRED\u003eA: put the apple in the jar\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the apple in the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the apple 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:discriminative:discrete:True\u003e\nput the apple 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: please put all the fruits into the jar. last 20 steps: 1- put the apple into the jar 2- put the apple in the in the jar 3- put the apple into the jar Q: immediate next step? \u003cPRED\u003eA: put the apple in the jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the fruits into the jar. last 20 steps: 1- put the apple into the jar 2- put the apple in the in the jar 3- put the apple into the jar Q: next 5 steps? \u003cPRED\u003eA: 1- put the apple in the jar 2- put the apple into the jar 3- put the orange into the jar 4- pull the jar right 5- put the orange into the jar\n\u003c/PRED\u003e","video":"921185004468035297.mp4"}
+{"uid":"4297917346029679613","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the apple 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 apple in the jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put all the fruits into the jar Q: immediate next step? \u003cPRED\u003eA: put the apple in the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the apple 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the fruits into the jar. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put the apple in the jar\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the apple in the jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the fruits into the jar. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put the apple in the jar 2- put the apple in the in the jar 3- put the apple into the jar 4- put the apple into the jar 5- put the apple into the jar\n\u003c/PRED\u003e","video":"16594224167799435714.mp4"}
+{"uid":"2407594348593980745","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput 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 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:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put orange packet 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 popcorn packet on the table 2- put popcorn packet on the table 3- put popcorn packet on the table 4- put popcorn packet on the table 5- put popcorn packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put orange packet on the table 2- put orange packet on the table 3- put orange packet on the table 4- adjust the tray 5- put orange packet 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 orange packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put orange packet 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 popcorn packet on the table 2- put popcorn packet on the table 3- put popcorn packet on the table 4- put popcorn packet on the table 5- put popcorn packet on the table Q: immediate next step? \u003cPRED\u003eA: put orange packet on the table\n\u003c/PRED\u003e","video":"15507299407956889672.mp4"}
+{"uid":"5346769396132427571","text":"\u003ctask:success:discrete:True\u003e\nput the apple in the 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 apple in the in the jar\n\u003c/PRED\u003e","video":"14542677072276381166.mp4"}
+{"uid":"10950211544206003688","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":"17452451115858120885.mp4"}
+{"uid":"643619254029988074","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the chips from the tray. last 20 steps: 1- put popcorn packet on the table 2- put popcorn packet on the table 3- put popcorn packet on the table 4- put popcorn packet on the table 5- put popcorn packet on the table 6- put orange packet on the table Q: immediate next step? \u003cPRED\u003eA: put orange packet 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 popcorn packet on the table 2- put popcorn packet on the table 3- put popcorn packet on the table 4- put popcorn packet on the table 5- put popcorn packet on the table 6- put orange packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put orange packet on the table 2- put orange packet on the table 3- adjust the tray 4- put orange packet on the table 5- put orange packet 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 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 orange packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put orange packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput 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":"615608568124121138.mp4"}
+{"uid":"9620467188387994197","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please put all the fruits into the jar Q: immediate next step? \u003cPRED\u003eA: put the orange in the jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the orange 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 orange in the jar\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the orange in the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the orange 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the fruits into the jar. last 20 steps: 1- put the apple into the jar 2- put the apple in the in the jar 3- put the apple into the jar 4- put the apple into the jar 5- put the apple into the jar 6- put the orange into the jar 7- pull the jar right Q: immediate next step? \u003cPRED\u003eA: put the orange in the jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the fruits into the jar. last 20 steps: 1- put the apple into the jar 2- put the apple in the in the jar 3- put the apple into the jar 4- put the apple into the jar 5- put the apple into the jar 6- put the orange into the jar 7- pull the jar right Q: next 5 steps? \u003cPRED\u003eA: 1- put the orange in the jar 2- put the orange in the jar 3- put the orange into the jar 4- put the banana into the jar 5- put the orange in the jar\n\u003c/PRED\u003e","video":"10673263019499522329.mp4"}
+{"uid":"7205922948221490192","text":"\u003ctask:success:discrete:True\u003e\nput the apple 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 apple in the jar\n\u003c/PRED\u003e","video":"8517674747516030832.mp4"}
+{"uid":"985650980536137610","text":"\u003ctask:success:discrete:True\u003e\nput 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: put orange packet on the table\n\u003c/PRED\u003e","video":"15508854037417538938.mp4"}
+{"uid":"9609292716080884155","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":"1214555124021178146.mp4"}
+{"uid":"11153681097118106246","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the apple into the jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the fruits into the jar. last 20 steps: 1- put the apple into the jar 2- put the apple in the in the jar 3- put the apple into the jar Q: next 5 steps? \u003cPRED\u003eA: 1- put the apple into the jar 2- put the apple into the jar 3- put the orange into the jar 4- pull the jar right 5- put the orange into the jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put all the fruits into the jar Q: immediate next step? \u003cPRED\u003eA: put the apple into the jar\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the fruits into the jar. last 20 steps: 1- put the apple into the jar 2- put the apple in the in the jar 3- put the apple into the jar Q: immediate next step? \u003cPRED\u003eA: put the apple into the jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the apple into the jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the apple 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","video":"15344351866347395268.mp4"}
+{"uid":"12312717128172701086","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nAdjust the rubber bands 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":"8125328650754420233.mp4"}
+{"uid":"3129868329768955023","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the fruits into the jar. last 20 steps: 1- put the apple into the jar 2- put the apple in the in the jar 3- put the apple into the jar 4- put the apple into the jar 5- put the apple into the jar Q: next 5 steps? \u003cPRED\u003eA: 1- put the orange in the jar 2- pull the jar right 3- put the orange into the jar 4- put the orange in the jar 5- put the orange into the jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the orange 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 orange in the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the orange 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the fruits into the jar. last 20 steps: 1- put the apple into the jar 2- put the apple in the in the jar 3- put the apple into the jar 4- put the apple into the jar 5- put the apple into the jar Q: immediate next step? \u003cPRED\u003eA: put the orange in the jar\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the orange in the jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put all the fruits into the jar Q: immediate next step? \u003cPRED\u003eA: put the orange in the jar\n\u003c/PRED\u003e","video":"18075516316354070756.mp4"}
+{"uid":"2634054268907866448","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the rold 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":"9508368058348253323.mp4"}
+{"uid":"4063790601042574998","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the chips from the tray. last 20 steps: 1- put popcorn packet on the table 2- put popcorn packet on the table 3- put popcorn packet on the table 4- put popcorn packet on the table 5- put popcorn packet on the table 6- put orange packet on the table 7- put orange packet on the table 8- put orange packet on the table 9- adjust the tray 10- put orange packet on the table 11- put 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 chips 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 chips from the tray. last 20 steps: 1- put popcorn packet on the table 2- put popcorn packet on the table 3- put popcorn packet on the table 4- put popcorn packet on the table 5- put popcorn packet on the table 6- put orange packet on the table 7- put orange packet on the table 8- put orange packet on the table 9- adjust the tray 10- put orange packet on the table 11- put orange packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput 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: put orange packet on the table\n\u003c/PRED\u003e","video":"15176013047269150174.mp4"}
+{"uid":"4789070941798259770","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the fruits into the jar. last 20 steps: 1- put the apple into the jar 2- put the apple in the in the jar 3- put the apple into the jar 4- put the apple into the jar 5- put the apple into the jar 6- put the orange into the jar 7- pull the jar right Q: immediate next step? \u003cPRED\u003eA: put the fruit in the jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the fruit 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: please put all the fruits into the jar Q: immediate next step? \u003cPRED\u003eA: put the fruit in the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the fruit 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the fruit in the jar\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the fruit in the jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the fruits into the jar. last 20 steps: 1- put the apple into the jar 2- put the apple in the in the jar 3- put the apple into the jar 4- put the apple into the jar 5- put the apple into the jar 6- put the orange into the jar 7- pull the jar right Q: next 5 steps? \u003cPRED\u003eA: 1- put the fruit in the jar 2- put the orange into the jar 3- put the banana into the jar 4- put the orange in the jar 5- done\n\u003c/PRED\u003e","video":"12922990950139637880.mp4"}
+{"uid":"7532825124393907139","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the fruits into the jar. last 20 steps: 1- put the apple into the jar 2- put the apple in the in the jar 3- put the apple into the jar 4- put the apple into the jar 5- put the apple into the jar 6- put the orange into the jar 7- pull the jar right 8- put the orange into the jar 9- put the orange in the jar 10- put the orange into the jar 11- put the banana into the jar Q: immediate next step? \u003cPRED\u003eA: put the fruit in the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the fruit 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: please put all the fruits into the jar Q: immediate next step? \u003cPRED\u003eA: put the fruit in the jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the fruits into the jar. last 20 steps: 1- put the apple into the jar 2- put the apple in the in the jar 3- put the apple into the jar 4- put the apple into the jar 5- put the apple into the jar 6- put the orange into the jar 7- pull the jar right 8- put the orange into the jar 9- put the orange in the jar 10- put the orange into the jar 11- put the banana into the jar Q: next 5 steps? \u003cPRED\u003eA: 1- put the fruit in the jar 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the fruit in the jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the fruit in the jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the fruit 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":"17138036520083249057.mp4"}
+{"uid":"10009520223549378425","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\npull the jar 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the fruits into the jar. last 20 steps: 1- put the apple into the jar 2- put the apple in the in the jar 3- put the apple into the jar 4- put the apple into the jar 5- put the apple into the jar 6- put the orange into the jar Q: next 5 steps? \u003cPRED\u003eA: 1- pull the jar right 2- put the orange into the jar 3- put the orange in the jar 4- put the orange into the jar 5- put the banana into the jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put all the fruits into the jar Q: immediate next step? \u003cPRED\u003eA: pull the jar right\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npull the jar 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 put all the fruits into the jar. last 20 steps: 1- put the apple into the jar 2- put the apple in the in the jar 3- put the apple into the jar 4- put the apple into the jar 5- put the apple into the jar 6- put the orange into the jar Q: immediate next step? \u003cPRED\u003eA: pull the jar right\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pull the jar right\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pull the jar right\n\u003c/PRED\u003e","video":"10608922611332590198.mp4"}
+{"uid":"6522090918880456945","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the fruits into the jar. last 20 steps: 1- put the apple into the jar 2- put the apple in the in the jar 3- put the apple into the jar 4- put the apple into the jar 5- put the apple into the jar 6- put the orange into the jar 7- pull the jar right 8- put the orange into the jar 9- put the orange in the jar 10- put the orange into the jar 11- put the banana into the jar Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the fruits into the jar. last 20 steps: 1- put the apple into the jar 2- put the apple in the in the jar 3- put the apple into the jar 4- put the apple into the jar 5- put the apple into the jar 6- put the orange into the jar 7- pull the jar right 8- put the orange into the jar 9- put the orange in the jar 10- put the orange into the jar 11- put the banana into the jar Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put all the fruits into 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 banana into the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the banana 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":"13060934277615828975.mp4"}
+{"uid":"14301848703494595519","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput 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:planning:freeform\u003e\ncurrent goal is: please remove the chips from the tray Q: immediate next step? \u003cPRED\u003eA: put popcorn packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put popcorn packet 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 popcorn packet on the table 2- put popcorn packet on the table 3- put popcorn packet on the table 4- put popcorn packet on the table Q: immediate next step? \u003cPRED\u003eA: put popcorn packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put popcorn packet 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 popcorn packet on the table 2- put popcorn packet on the table 3- put popcorn packet on the table 4- put popcorn packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put popcorn packet on the table 2- put orange packet on the table 3- put orange packet on the table 4- put orange packet on the table 5- adjust the tray\n\u003c/PRED\u003e","video":"9200840754715961653.mp4"}
+{"uid":"2403459445767445796","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":"12104034695751766296.mp4"}
+{"uid":"17148479912580924555","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put popcorn packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput popcorn 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":"3530256008478627305.mp4"}
+{"uid":"3326542185458972110","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the chips from the tray. last 20 steps: 1- put popcorn packet on the table 2- put popcorn packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put popcorn packet on the table 2- put popcorn packet on the table 3- put popcorn packet on the table 4- put orange packet on the table 5- put orange packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put popcorn packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put popcorn packet 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 popcorn packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the chips from the tray. last 20 steps: 1- put popcorn packet on the table 2- put popcorn packet on the table Q: immediate next step? \u003cPRED\u003eA: put popcorn packet on the table\n\u003c/PRED\u003e","video":"17625759341475608201.mp4"}
+{"uid":"4569384534892867240","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":"11381004567963050678.mp4"}
+{"uid":"2711700224826226085","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put popcorn packet 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 popcorn packet on the table Q: immediate next step? \u003cPRED\u003eA: put popcorn packet 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 popcorn packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put popcorn packet on the table 2- put popcorn packet on the table 3- put popcorn packet on the table 4- put popcorn packet on the table 5- put orange packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput 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:planning:freeform\u003e\ncurrent goal is: please remove the chips from the tray Q: immediate next step? \u003cPRED\u003eA: put popcorn packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put popcorn packet on the table\n\u003c/PRED\u003e","video":"1258380547596077016.mp4"}
+{"uid":"1740429376447194804","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the orange into the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the orange 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":"14446614022905580611.mp4"}
+{"uid":"5293149408877828181","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput a teal and pink toy car 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":"6455638868793365600.mp4"}
+{"uid":"9505215989693371173","text":"\u003ctask:success:discrete:True\u003e\nput the orange 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 orange into the jar\n\u003c/PRED\u003e","video":"3107414017034957576.mp4"}
+{"uid":"15523482965075300989","text":"\u003ctask:success:discrete:True\u003e\nput the apple 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 apple in the jar\n\u003c/PRED\u003e","video":"12579007911349909125.mp4"}
+{"uid":"17816154751737203665","text":"\u003ctask:success:discrete:True\u003e\nput the apple 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 apple into the jar\n\u003c/PRED\u003e","video":"18156848934991992047.mp4"}
+{"uid":"2737060244840886095","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":"5878008492147467092.mp4"}
+{"uid":"6817072356443586563","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the orange into the jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the orange 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the fruits into the jar. last 20 steps: 1- put the apple into the jar 2- put the apple in the in the jar 3- put the apple into the jar 4- put the apple into the jar 5- put the apple into the jar 6- put the orange into the jar 7- pull the jar right 8- put the orange into the jar 9- put the orange in the jar 10- put the orange into the jar 11- put the banana into the jar Q: next 5 steps? \u003cPRED\u003eA: 1- put the orange into the jar 2- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the orange 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:planning:freeform\u003e\ncurrent goal is: please put all the fruits into the jar Q: immediate next step? \u003cPRED\u003eA: put the orange into the jar\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the orange into the jar\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the fruits into the jar. last 20 steps: 1- put the apple into the jar 2- put the apple in the in the jar 3- put the apple into the jar 4- put the apple into the jar 5- put the apple into the jar 6- put the orange into the jar 7- pull the jar right 8- put the orange into the jar 9- put the orange in the jar 10- put the orange into the jar 11- put the banana into the jar Q: immediate next step? \u003cPRED\u003eA: put the orange into the jar\n\u003c/PRED\u003e","video":"7873953722486454320.mp4"}
+{"uid":"16980819335632504250","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the 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":"3119961507453476751.mp4"}
+{"uid":"15527309670551294919","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the chips from the tray. last 20 steps: 1- put popcorn packet on the table 2- put popcorn packet on the table 3- put popcorn packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put popcorn packet on the table 2- put popcorn packet on the table 3- put orange packet on the table 4- put orange packet on the table 5- put orange packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put popcorn packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the chips from the tray. last 20 steps: 1- put popcorn packet on the table 2- put popcorn packet on the table 3- put popcorn packet on the table Q: immediate next step? \u003cPRED\u003eA: put popcorn packet 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 popcorn packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put popcorn packet on the table\n\u003c/PRED\u003e","video":"10652599657713371159.mp4"}
+{"uid":"9368253260616584208","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":"7527293600605806466.mp4"}
+{"uid":"2626495652570671329","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put popcorn packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput 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: put popcorn packet 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 popcorn packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput 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: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 popcorn packet on the table 2- put popcorn packet on the table 3- put popcorn packet on the table 4- put popcorn packet on the table 5- put popcorn packet 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 popcorn packet on the table\n\u003c/PRED\u003e","video":"12632565351586374243.mp4"}
+{"uid":"4027692492603774524","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please put all the fruits into the jar Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the banana Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\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 banana\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the fruits into the jar. last 20 steps: 1- put the apple into the jar 2- put the apple in the in the jar 3- put the apple into the jar 4- put the apple into the jar 5- put the apple into the jar 6- put the orange into the jar 7- pull the jar right 8- put the orange into the jar 9- put the orange in the jar 10- put the orange into the jar 11- put the banana Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the fruits into the jar. last 20 steps: 1- put the apple into the jar 2- put the apple in the in the jar 3- put the apple into the jar 4- put the apple into the jar 5- put the apple into the jar 6- put the orange into the jar 7- pull the jar right 8- put the orange into the jar 9- put the orange in the jar 10- put the orange into the jar 11- put the banana Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"592271633438306594.mp4"}
+{"uid":"11476607523963819564","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut 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":"17014443700026474321.mp4"}
+{"uid":"15978839972459144175","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":"8740678550891039824.mp4"}
+{"uid":"15841764425204467909","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the banana\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the banana\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the banana Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED: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 all the fruits into the jar. last 20 steps: 1- put the apple into the jar 2- put the apple in the in the jar 3- put the apple into the jar 4- put the apple into the jar 5- put the apple into the jar 6- put the orange into the jar 7- pull the jar right 8- put the orange into the jar 9- put the orange in the jar 10- put the orange into the jar Q: next 5 steps? \u003cPRED\u003eA: 1- put the banana 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put all the fruits into the jar Q: immediate next step? \u003cPRED\u003eA: put the banana\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the banana Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\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 all the fruits into the jar. last 20 steps: 1- put the apple into the jar 2- put the apple in the in the jar 3- put the apple into the jar 4- put the apple into the jar 5- put the apple into the jar 6- put the orange into the jar 7- pull the jar right 8- put the orange into the jar 9- put the orange in the jar 10- put the orange into the jar Q: immediate next step? \u003cPRED\u003eA: put the banana\n\u003c/PRED\u003e","video":"6682616004369759031.mp4"}
+{"uid":"10425653441353492114","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the fruits into the jar. last 20 steps: 1- put the apple into the jar 2- put the apple in the in the jar 3- put the apple into the jar 4- put the apple into the jar Q: immediate next step? \u003cPRED\u003eA: put the apple into the jar\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the apple into the jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put all the fruits into the jar Q: immediate next step? \u003cPRED\u003eA: put the apple into the jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the apple into the jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the fruits into the jar. last 20 steps: 1- put the apple into the jar 2- put the apple in the in the jar 3- put the apple into the jar 4- put the apple into the jar Q: next 5 steps? \u003cPRED\u003eA: 1- put the apple into the jar 2- put the orange into the jar 3- pull the jar right 4- put the orange into the jar 5- put the orange in the jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the apple 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","video":"4318770480377932247.mp4"}
+{"uid":"3402665600188008601","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput fork 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":"18380583588631211163.mp4"}
+{"uid":"8547912457292936840","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the fruits into the jar. last 20 steps: 1- put the apple into the jar 2- put the apple in the in the jar 3- put the apple into the jar 4- put the apple into the jar 5- put the apple into the jar 6- put the orange into the jar 7- pull the jar right 8- put the orange into the jar 9- put the orange in the jar Q: immediate next step? \u003cPRED\u003eA: put the orange in the jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put all the fruits into the jar Q: immediate next step? \u003cPRED\u003eA: put the orange in the jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the orange in the jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the fruits into the jar. last 20 steps: 1- put the apple into the jar 2- put the apple in the in the jar 3- put the apple into the jar 4- put the apple into the jar 5- put the apple into the jar 6- put the orange into the jar 7- pull the jar right 8- put the orange into the jar 9- put the orange in the jar Q: next 5 steps? \u003cPRED\u003eA: 1- put the orange in the jar 2- put the banana into the jar 3- put the orange in the jar 4- 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 jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the orange 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:discriminative:discrete:True\u003e\nput the orange 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":"16227573461047410285.mp4"}
+{"uid":"4572201263218791181","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":"7614841909202822785.mp4"}
+{"uid":"17973714191627354852","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":"9147558387474369992.mp4"}
+{"uid":"16057228271942560740","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the yellow 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":"16317015282685265508.mp4"}
+{"uid":"5088107793028288781","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":"13682523433438980966.mp4"}
+{"uid":"2889503656854227947","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the fruits into the jar. last 20 steps: 1- put the apple into the jar 2- put the apple in the in the jar 3- put the apple into the jar 4- put the apple into the jar 5- put the apple into the jar 6- put the orange into the jar 7- pull the jar right Q: immediate next step? \u003cPRED\u003eA: put the orange into the jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the fruits into the jar. last 20 steps: 1- put the apple into the jar 2- put the apple in the in the jar 3- put the apple into the jar 4- put the apple into the jar 5- put the apple into the jar 6- put the orange into the jar 7- pull the jar right Q: next 5 steps? \u003cPRED\u003eA: 1- put the orange into the jar 2- put the orange in the jar 3- put the orange into the jar 4- put the banana into the jar 5- put the orange in the jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the orange into the jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the orange 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 orange into the jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put all the fruits into the jar Q: immediate next step? \u003cPRED\u003eA: put the orange into the jar\n\u003c/PRED\u003e","video":"12036867494855710830.mp4"}
+{"uid":"17055619982215027672","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":"14013125512920409834.mp4"}
+{"uid":"12939303540919557229","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":"17416691758775641119.mp4"}
+{"uid":"17001059011602481994","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please put all the fruits into the jar Q: immediate next step? \u003cPRED\u003eA: put the orange into the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the orange 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:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the orange into the jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the fruits into the jar. last 20 steps: 1- put the apple into the jar 2- put the apple in the in the jar 3- put the apple into the jar 4- put the apple into the jar 5- put the apple into the jar Q: next 5 steps? \u003cPRED\u003eA: 1- put the orange into the jar 2- pull the jar right 3- put the orange into the jar 4- put the orange in the jar 5- put the orange into the jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the orange into the jar\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the fruits into the jar. last 20 steps: 1- put the apple into the jar 2- put the apple in the in the jar 3- put the apple into the jar 4- put the apple into the jar 5- put the apple into the jar Q: immediate next step? \u003cPRED\u003eA: put the orange into the jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the orange 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","video":"3980561055670749545.mp4"}
+{"uid":"933011464815256747","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put orange packet 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 popcorn packet on the table 2- put popcorn packet on the table 3- put popcorn packet on the table 4- put popcorn packet on the table 5- put popcorn packet on the table 6- put orange packet on the table 7- put orange packet on the table 8- put orange packet on the table 9- adjust the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put orange packet on the table 2- put orange packet on the table 3- 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 popcorn packet on the table 2- put popcorn packet on the table 3- put popcorn packet on the table 4- put popcorn packet on the table 5- put popcorn packet on the table 6- put orange packet on the table 7- put orange packet on the table 8- put orange packet on the table 9- adjust the tray Q: immediate next step? \u003cPRED\u003eA: put orange packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput 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 chips from the tray Q: immediate next step? \u003cPRED\u003eA: put orange packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put orange packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput 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","video":"11725335230376316039.mp4"}
+{"uid":"18101698712524835567","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please put all the fruits into the jar Q: immediate next step? \u003cPRED\u003eA: put the pear into the jar\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the fruits into the jar. last 20 steps: 1- put the apple into the jar Q: immediate next step? \u003cPRED\u003eA: put the pear into the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the pear 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: please put all the fruits into the jar. last 20 steps: 1- put the apple into the jar Q: next 5 steps? \u003cPRED\u003eA: 1- put the pear into the jar 2- put the apple into the jar 3- put the apple into the jar 4- put the apple into the jar 5- put the orange into the jar\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the pear into the jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pear into the jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the pear 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","video":"11014045763788148564.mp4"}
+{"uid":"5952922145252956003","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the smart 50 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":"16806628482282764493.mp4"}
+{"uid":"11414338193711824093","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the banana 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the fruits into the jar. last 20 steps: 1- put the apple into the jar 2- put the apple in the in the jar 3- put the apple into the jar 4- put the apple into the jar 5- put the apple into the jar 6- put the orange into the jar 7- pull the jar right 8- put the orange into the jar 9- put the orange in the jar 10- put the orange into the jar Q: next 5 steps? \u003cPRED\u003eA: 1- put the banana into the jar 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the banana into the jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the banana into the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the banana 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: please put all the fruits into the jar. last 20 steps: 1- put the apple into the jar 2- put the apple in the in the jar 3- put the apple into the jar 4- put the apple into the jar 5- put the apple into the jar 6- put the orange into the jar 7- pull the jar right 8- put the orange into the jar 9- put the orange in the jar 10- put the orange into the jar Q: immediate next step? \u003cPRED\u003eA: put the banana into the jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put all the fruits into the jar Q: immediate next step? \u003cPRED\u003eA: put the banana into the jar\n\u003c/PRED\u003e","video":"9287313208618656366.mp4"}
+{"uid":"5011117492016967553","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":"8398537420444000934.mp4"}
+{"uid":"12385162648620163927","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the apple in the 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the fruits into the jar. last 20 steps: 1- put the apple into the jar Q: next 5 steps? \u003cPRED\u003eA: 1- put the apple in the in the jar 2- put the apple into the jar 3- put the apple into the jar 4- put the apple into the jar 5- put the orange into the jar\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the fruits into the jar. last 20 steps: 1- put the apple into the jar Q: immediate next step? \u003cPRED\u003eA: put the apple in the in the jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the apple in the in the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the apple in the 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: please put all the fruits into the jar Q: immediate next step? \u003cPRED\u003eA: put the apple in the in the jar\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the apple in the in the jar\n\u003c/PRED\u003e","video":"4539403327792643067.mp4"}
+{"uid":"1589551965967558745","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the pista 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":"13080778860447868537.mp4"}
+{"uid":"3283426519649484710","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the fruit in the jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put all the fruits into the jar Q: immediate next step? \u003cPRED\u003eA: put the fruit in the jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the fruit in the jar\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the fruits into the jar. last 20 steps: 1- put the apple into the jar 2- put the apple in the in the jar 3- put the apple into the jar 4- put the apple into the jar 5- put the apple into the jar Q: immediate next step? \u003cPRED\u003eA: put the fruit in the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the fruit 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:discriminative:discrete:True\u003e\nput the fruit 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the fruits into the jar. last 20 steps: 1- put the apple into the jar 2- put the apple in the in the jar 3- put the apple into the jar 4- put the apple into the jar 5- put the apple into the jar Q: next 5 steps? \u003cPRED\u003eA: 1- put the fruit in the jar 2- pull the jar right 3- put the orange into the jar 4- put the orange in the jar 5- put the orange into the jar\n\u003c/PRED\u003e","video":"10517531560120714104.mp4"}
+{"uid":"7046140064240648657","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nopen the cabinet right 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":"14880903526741457503.mp4"}
+{"uid":"6045067959066190240","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put orange packet 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 popcorn packet on the table 2- put popcorn packet on the table 3- put popcorn packet on the table 4- put popcorn packet on the table 5- put popcorn packet on the table 6- put orange packet on the table 7- put orange packet on the table 8- put orange packet on the table 9- adjust the tray 10- put orange packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put orange packet on the table 2- 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 popcorn packet on the table 2- put popcorn packet on the table 3- put popcorn packet on the table 4- put popcorn packet on the table 5- put popcorn packet on the table 6- put orange packet on the table 7- put orange packet on the table 8- put orange packet on the table 9- adjust the tray 10- put orange packet on the table Q: immediate next step? \u003cPRED\u003eA: put orange packet 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 orange packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put orange packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput 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":"10519787320069310383.mp4"}
+{"uid":"14021729508085729032","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the fruit in the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the fruit 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":"3127618942814935987.mp4"}
+{"uid":"18029777630862853041","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the apple into the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the apple 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":"12022641524894509044.mp4"}
+{"uid":"6515233590854992062","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":"6949052599465181360.mp4"}
+{"uid":"17899531298709797193","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":"2802212399245797769.mp4"}
+{"uid":"10309605260911122947","text":"\u003ctask:success:discrete:True\u003e\nput the orange 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 orange into the jar\n\u003c/PRED\u003e","video":"6170440349284009376.mp4"}
+{"uid":"18060208312720069616","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put orange packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput 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","video":"13183552672900202433.mp4"}
+{"uid":"1552216506769115025","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the fruits into the jar. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put the apple in the jar 2- put the apple in the in the jar 3- put the apple into the jar 4- put the apple into the jar 5- put the apple into the jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put all the fruits into the jar Q: immediate next step? \u003cPRED\u003eA: put the apple in the jar\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the apple in the jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the apple 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 apple in the jar\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the fruits into the jar. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put the apple in the jar\n\u003c/PRED\u003e","video":"5145428550602644844.mp4"}
+{"uid":"1594244117277876934","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the apple into the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the apple 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":"10749660307117045856.mp4"}
+{"uid":"9413012460769291909","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please put all the fruits into the jar Q: immediate next step? \u003cPRED\u003eA: put the apple in the jar\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the fruits into the jar. last 20 steps: 1- put the apple into the jar 2- put the apple in the in the jar 3- put the apple into the jar 4- put the apple into the jar Q: immediate next step? \u003cPRED\u003eA: put the apple in the jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the apple 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 apple in the jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the fruits into the jar. last 20 steps: 1- put the apple into the jar 2- put the apple in the in the jar 3- put the apple into the jar 4- put the apple into the jar Q: next 5 steps? \u003cPRED\u003eA: 1- put the apple in the jar 2- put the orange into the jar 3- pull the jar right 4- put the orange into the jar 5- put the orange in the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the apple 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 apple in the jar\n\u003c/PRED\u003e","video":"12184299046355110888.mp4"}
+{"uid":"2639430608722089087","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":"4859981689060283620.mp4"}
+{"uid":"10041956295639667813","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the green 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":"3410817820300970031.mp4"}
+{"uid":"620178376744671909","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put orange packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput 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","video":"13910081984199148157.mp4"}
+{"uid":"6687774190807001021","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":"4052215437370148402.mp4"}
+{"uid":"13529841303190815553","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":"1882722914374773378.mp4"}
+{"uid":"9641777341640389215","text":"\u003ctask:success:discrete:True\u003e\nput the apple 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 apple in the jar\n\u003c/PRED\u003e","video":"4542299469012485280.mp4"}
+{"uid":"4324128079844740630","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the fruits into the jar. last 20 steps: 1- put the apple into the jar 2- put the apple in the in the jar 3- put the apple into the jar 4- put the apple into the jar 5- put the apple into the jar 6- put the orange into the jar 7- pull the jar right 8- put the orange into the jar 9- put the orange in the jar 10- put the orange into the jar Q: next 5 steps? \u003cPRED\u003eA: 1- put the banana in the jar 2- put the orange in the jar 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the banana 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: please put all the fruits into the jar. last 20 steps: 1- put the apple into the jar 2- put the apple in the in the jar 3- put the apple into the jar 4- put the apple into the jar 5- put the apple into the jar 6- put the orange into the jar 7- pull the jar right 8- put the orange into the jar 9- put the orange in the jar 10- put the orange into the jar Q: immediate next step? \u003cPRED\u003eA: put the banana in the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the banana 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the banana in the jar\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the banana in the jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put all the fruits into the jar Q: immediate next step? \u003cPRED\u003eA: put the banana in the jar\n\u003c/PRED\u003e","video":"3788884151326839274.mp4"}
+{"uid":"1704073179524727269","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the fruits into the jar. last 20 steps: 1- put the apple into the jar 2- put the apple in the in the jar 3- put the apple into the jar 4- put the apple into the jar 5- put the apple into the jar 6- put the orange into the jar 7- pull the jar right 8- put the orange into the jar 9- put the orange in the jar Q: immediate next step? \u003cPRED\u003eA: put the orange into the jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the orange 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the fruits into the jar. last 20 steps: 1- put the apple into the jar 2- put the apple in the in the jar 3- put the apple into the jar 4- put the apple into the jar 5- put the apple into the jar 6- put the orange into the jar 7- pull the jar right 8- put the orange into the jar 9- put the orange in the jar Q: next 5 steps? \u003cPRED\u003eA: 1- put the orange into the jar 2- put the banana into the jar 3- put the orange in the jar 4- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the orange 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:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the orange into the jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put all the fruits into the jar Q: immediate next step? \u003cPRED\u003eA: put the orange into the jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the orange into the jar\n\u003c/PRED\u003e","video":"11806165043637593440.mp4"}
+{"uid":"5377800783682612911","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please put all the fruits into the jar Q: immediate next step? \u003cPRED\u003eA: put the apple into the jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the fruits into the jar. last 20 steps: 1- put the apple into the jar 2- put the apple in the in the jar Q: next 5 steps? \u003cPRED\u003eA: 1- put the apple into the jar 2- put the apple into the jar 3- put the apple into the jar 4- put the orange into the jar 5- pull the jar right\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the fruits into the jar. last 20 steps: 1- put the apple into the jar 2- put the apple in the in the jar Q: immediate next step? \u003cPRED\u003eA: put the apple into the jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the apple 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:success:discrete:False\u003e\nput the apple 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:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the apple into the jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the apple into the jar\n\u003c/PRED\u003e","video":"12986525218187665629.mp4"}
+{"uid":"11399530541079127734","text":"\u003ctask:success:discrete:False\u003e\nadjust 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: adjust the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the chips from the tray Q: immediate next step? \u003cPRED\u003eA: adjust the tray\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 popcorn packet on the table 2- put popcorn packet on the table 3- put popcorn packet on the table 4- put popcorn packet on the table 5- put popcorn packet on the table 6- put orange packet on the table 7- put orange packet on the table 8- put orange packet on the table Q: immediate next step? \u003cPRED\u003eA: adjust the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: adjust the tray\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 popcorn packet on the table 2- put popcorn packet on the table 3- put popcorn packet on the table 4- put popcorn packet on the table 5- put popcorn packet on the table 6- put orange packet on the table 7- put orange packet on the table 8- put orange packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- adjust the tray 2- put orange packet on the table 3- put orange packet on the table 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nadjust 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":"6098864263777538519.mp4"}
+{"uid":"11879690421070978734","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut 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":"5391181237791055727.mp4"}
+{"uid":"535519315504940058","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the brown 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":"11239873460814080963.mp4"}
+{"uid":"4768657366426873803","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the orange in the jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the fruits into the jar. last 20 steps: 1- put the apple into the jar 2- put the apple in the in the jar 3- put the apple into the jar 4- put the apple into the jar 5- put the apple into the jar 6- put the orange into the jar 7- pull the jar right 8- put the orange into the jar Q: next 5 steps? \u003cPRED\u003eA: 1- put the orange in the jar 2- put the orange into the jar 3- put the banana into the jar 4- put the orange in the jar 5- 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 jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the orange 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: please put all the fruits into the jar Q: immediate next step? \u003cPRED\u003eA: put the orange in the jar\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the fruits into the jar. last 20 steps: 1- put the apple into the jar 2- put the apple in the in the jar 3- put the apple into the jar 4- put the apple into the jar 5- put the apple into the jar 6- put the orange into the jar 7- pull the jar right 8- put the orange into the jar Q: immediate next step? \u003cPRED\u003eA: put the orange in the jar\n\u003c/PRED\u003e","video":"12213623154195238107.mp4"}
+{"uid":"14589226072104143551","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":"11054571329722254040.mp4"}
+{"uid":"3974493017347473959","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove 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":"11727929384373455038.mp4"}
+{"uid":"15606925938469635430","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the pear in the jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:False\u003e\nput 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\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the fruits into the jar. last 20 steps: 1- put the apple into the jar Q: immediate next step? \u003cPRED\u003eA: put the pear in the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the pear 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pear in the jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the pear 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the fruits into the jar. last 20 steps: 1- put the apple into the jar Q: next 5 steps? \u003cPRED\u003eA: 1- put the pear in the jar 2- put the apple into the jar 3- put the apple into the jar 4- put the apple into the jar 5- put the orange into the jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put all the fruits into the jar Q: immediate next step? \u003cPRED\u003eA: put the pear in the jar\n\u003c/PRED\u003e","video":"16060102381284904604.mp4"}
+{"uid":"14471104920520667835","text":"\u003ctask:success:discrete:True\u003e\nput the apple 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 apple in the jar\n\u003c/PRED\u003e","video":"16283971789915903332.mp4"}
+{"uid":"2774884217704858457","text":"\u003ctask:success:discrete:True\u003e\nput the pear 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 pear into the jar\n\u003c/PRED\u003e","video":"17328191264926754864.mp4"}
+{"uid":"5362636353861028866","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":"13081371790414824431.mp4"}
+{"uid":"6875965068834055720","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":"2628065819764293110.mp4"}
+{"uid":"1285246070666038113","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: unstack the glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups. last 20 steps: 1- stack the glass 2- stack the glass Q: immediate next step? \u003cPRED\u003eA: unstack the glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nunstack 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: unstack the cups Q: immediate next step? \u003cPRED\u003eA: unstack the glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups. last 20 steps: 1- stack the glass 2- stack the glass Q: next 5 steps? \u003cPRED\u003eA: 1- unstack the glass 2- stack the glass 3- stack the glass 4- stack the glass 5- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: unstack the glass\n\u003c/PRED\u003e","video":"6160250670123507012.mp4"}
+{"uid":"12237808935491167856","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: unstack the glass\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nunstack 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":"10857693344211327561.mp4"}
+{"uid":"9856246270690356774","text":"\u003ctask:success:discrete:True\u003e\nPlace glass 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: Place glass right\n\u003c/PRED\u003e","video":"15282434535294360247.mp4"}
+{"uid":"3209802023194586712","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace glass 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: unstack the cups Q: immediate next step? \u003cPRED\u003eA: Place glass right\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place glass right\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups. last 20 steps: 1- stack the glass 2- stack the glass 3- stack the glass Q: immediate next step? \u003cPRED\u003eA: Place glass right\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place glass right\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups. last 20 steps: 1- stack the glass 2- stack the glass 3- stack the glass Q: next 5 steps? \u003cPRED\u003eA: 1- Place glass right 2- stack the glass 3- done\n\u003c/PRED\u003e","video":"9287396018055300990.mp4"}
+{"uid":"4701460217067752214","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place glass right\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace glass 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","video":"12011206169900418208.mp4"}
+{"uid":"3825884584958698923","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: unstack the glass\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nunstack 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":"12754120144155478990.mp4"}
+{"uid":"12799586268162371959","text":"\u003ctask:success:discrete:True\u003e\nput the sticky note 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 sticky note in the holder\n\u003c/PRED\u003e","video":"5731418955141000593.mp4"}
+{"uid":"114234740229406496","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please stock caddy for phone room. last 20 steps: 1- put the pens in the holder 2- put the pens in the holder 3- put the pens in the holder 4- put the pens in the holder 5- put the pens in the holder 6- put the pens in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- put the pens in the holder 2- put the pens in the holder 3- put the sticky note in the holder 4- put the sticky note in the holder 5- place the sticky note on the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the pens in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the pens 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 stock caddy for phone room. last 20 steps: 1- put the pens in the holder 2- put the pens in the holder 3- put the pens in the holder 4- put the pens in the holder 5- put the pens in the holder 6- put the pens in the holder Q: immediate next step? \u003cPRED\u003eA: put the pens in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pens in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please stock caddy for phone room Q: immediate next step? \u003cPRED\u003eA: put the pens in the holder\n\u003c/PRED\u003e","video":"1158407977186616167.mp4"}
+{"uid":"10996677236581945072","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":"2770831263871455789.mp4"}
+{"uid":"5866263932648024050","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput cherrys on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5364313253505992361.mp4"}
+{"uid":"11007853261794456508","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please stock caddy for phone room Q: immediate next step? \u003cPRED\u003eA: put the cards in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the cards 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 cards in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the cards 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 cards in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please stock caddy for phone room. last 20 steps: 1- put the pens in the holder 2- put the pens in the holder 3- put the pens in the holder 4- put the pens in the holder 5- put the pens in the holder 6- put the pens in the holder 7- put the pens in the holder 8- put the pens in the holder 9- put the sticky note in the holder 10- put the sticky note in the holder 11- place the sticky note on the holder 12- place the sticky note on the holder Q: immediate next step? \u003cPRED\u003eA: put the cards in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please stock caddy for phone room. last 20 steps: 1- put the pens in the holder 2- put the pens in the holder 3- put the pens in the holder 4- put the pens in the holder 5- put the pens in the holder 6- put the pens in the holder 7- put the pens in the holder 8- put the pens in the holder 9- put the sticky note in the holder 10- put the sticky note in the holder 11- place the sticky note on the holder 12- place the sticky note on the holder Q: next 5 steps? \u003cPRED\u003eA: 1- put the cards in the holder 2- done\n\u003c/PRED\u003e","video":"4727849348903298910.mp4"}
+{"uid":"539560544228281916","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop sponge 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":"2566240806804646051.mp4"}
+{"uid":"17825556045998961765","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the scrub 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":"11875196064108646240.mp4"}
+{"uid":"8264921467900958360","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups. last 20 steps: 1- stack the glass 2- stack the glass 3- stack the glass 4- stack the glass Q: immediate next step? \u003cPRED\u003eA: unstack the glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: unstack the glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups. last 20 steps: 1- stack the glass 2- stack the glass 3- stack the glass 4- stack the glass Q: next 5 steps? \u003cPRED\u003eA: 1- unstack the glass 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: unstack the glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the cups Q: immediate next step? \u003cPRED\u003eA: unstack the glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nunstack 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":"3346891951724406945.mp4"}
+{"uid":"2295433432725973273","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput  last 2 packets 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":"8214973965993217002.mp4"}
+{"uid":"4352093611175515347","text":"\u003ctask:success:discrete:True\u003e\nunstack 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: unstack the glass\n\u003c/PRED\u003e","video":"8620156994346212775.mp4"}
+{"uid":"9893706722889691801","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nunstack 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\nunstack 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: unstack the glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the cups Q: immediate next step? \u003cPRED\u003eA: unstack the glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: unstack the glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- unstack the glass 2- stack the glass 3- stack the glass 4- stack the glass 5- stack the glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: unstack the glass\n\u003c/PRED\u003e","video":"7095134102241860756.mp4"}
+{"uid":"13881389999607636959","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: stack the glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the cups Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups. last 20 steps: 1- stack the glass 2- stack the glass 3- stack the glass 4- stack the glass 5- stack the glass 6- stack the glass Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups. last 20 steps: 1- stack the glass 2- stack the glass 3- stack the glass 4- stack the glass 5- stack the glass 6- stack the glass Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nstack 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":"9407070505929390143.mp4"}
+{"uid":"4187870255770482284","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nstack 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: unstack the cups Q: immediate next step? \u003cPRED\u003eA: stack the glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: stack the glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups. last 20 steps: 1- stack the glass 2- stack the glass 3- stack the glass 4- stack the glass 5- stack the glass Q: immediate next step? \u003cPRED\u003eA: stack the glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups. last 20 steps: 1- stack the glass 2- stack the glass 3- stack the glass 4- stack the glass 5- stack the glass Q: next 5 steps? \u003cPRED\u003eA: 1- stack the glass 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: stack the glass\n\u003c/PRED\u003e","video":"6054859120070512008.mp4"}
+{"uid":"9796526343032012147","text":"\u003ctask:success:discrete:True\u003e\nput the pens 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 pens in the holder\n\u003c/PRED\u003e","video":"7257716552639174620.mp4"}
+{"uid":"14111638856675341516","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the chocolate crunch 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","video":"5965566679494805506.mp4"}
+{"uid":"268056723614720430","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the cards in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please stock caddy for phone room Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the cards 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please stock caddy for phone room. last 20 steps: 1- put the pens in the holder 2- put the pens in the holder 3- put the pens in the holder 4- put the pens in the holder 5- put the pens in the holder 6- put the pens in the holder 7- put the pens in the holder 8- put the pens in the holder 9- put the sticky note in the holder 10- put the sticky note in the holder 11- place the sticky note on the holder 12- place the sticky note on the holder 13- put the cards in the holder Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please stock caddy for phone room. last 20 steps: 1- put the pens in the holder 2- put the pens in the holder 3- put the pens in the holder 4- put the pens in the holder 5- put the pens in the holder 6- put the pens in the holder 7- put the pens in the holder 8- put the pens in the holder 9- put the sticky note in the holder 10- put the sticky note in the holder 11- place the sticky note on the holder 12- place the sticky note on the holder 13- put the cards in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"11649872404430033255.mp4"}
+{"uid":"10115470379109472876","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: unstack the glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups. last 20 steps: 1- stack the glass 2- stack the glass 3- stack the glass 4- stack the glass 5- unstack the glass Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nunstack 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: unstack the cups Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups. last 20 steps: 1- stack the glass 2- stack the glass 3- stack the glass 4- stack the glass 5- unstack the glass Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"14011573610347427490.mp4"}
+{"uid":"14652077366272880780","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":"5245016070699583416.mp4"}
+{"uid":"9286950958129637937","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place glass right\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups. last 20 steps: 1- stack the glass Q: next 5 steps? \u003cPRED\u003eA: 1- Place glass right 2- stack the glass 3- stack the glass 4- stack the glass 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace glass 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups. last 20 steps: 1- stack the glass Q: immediate next step? \u003cPRED\u003eA: Place glass right\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the cups Q: immediate next step? \u003cPRED\u003eA: Place glass right\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place glass right\n\u003c/PRED\u003e","video":"14868069564789544041.mp4"}
+{"uid":"18005124042481129261","text":"\u003ctask:success:discrete:True\u003e\nput the pens 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 pens in the holder\n\u003c/PRED\u003e","video":"11897341208376116539.mp4"}
+{"uid":"11587696128245600771","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please stock caddy for phone room. last 20 steps: 1- put the pens in the holder 2- put the pens in the holder 3- put the pens in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- put the pens in the holder 2- put the pens in the holder 3- put the pens in the holder 4- put the pens in the holder 5- put the pens in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the pens 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 stock caddy for phone room. last 20 steps: 1- put the pens in the holder 2- put the pens in the holder 3- put the pens in the holder Q: immediate next step? \u003cPRED\u003eA: put the pens in the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the pens in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pens in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please stock caddy for phone room Q: immediate next step? \u003cPRED\u003eA: put the pens in the holder\n\u003c/PRED\u003e","video":"14276689985023832595.mp4"}
+{"uid":"12008749079629725655","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: unstack the glass\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nunstack 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":"10198955051740375900.mp4"}
+{"uid":"1853088716644779658","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the dog rope 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":"14540018443405444888.mp4"}
+{"uid":"9275546255590341916","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":"1740183062100033218.mp4"}
+{"uid":"14642707830357931385","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: stack the glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the cups Q: immediate next step? \u003cPRED\u003eA: stack the glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups. last 20 steps: 1- stack the glass 2- stack the glass Q: next 5 steps? \u003cPRED\u003eA: 1- stack the glass 2- stack the glass 3- stack the glass 4- stack the glass 5- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: stack the glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups. last 20 steps: 1- stack the glass 2- stack the glass Q: immediate next step? \u003cPRED\u003eA: stack the glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nstack 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":"17518106910153529037.mp4"}
+{"uid":"3061509807715320567","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace glass 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 glass right\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups. last 20 steps: 1- stack the glass 2- stack the glass Q: immediate next step? \u003cPRED\u003eA: Place glass right\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the cups Q: immediate next step? \u003cPRED\u003eA: Place glass right\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place glass right\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups. last 20 steps: 1- stack the glass 2- stack the glass Q: next 5 steps? \u003cPRED\u003eA: 1- Place glass right 2- stack the glass 3- stack the glass 4- stack the glass 5- done\n\u003c/PRED\u003e","video":"18247606660991531587.mp4"}
+{"uid":"6982725315658609146","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: stack the glass\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nstack 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":"3296014256205095386.mp4"}
+{"uid":"3913243026335723462","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please stock caddy for phone room Q: immediate next step? \u003cPRED\u003eA: place the sticky note on the holder\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 holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the sticky note on 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 the sticky note on the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please stock caddy for phone room. last 20 steps: 1- put the pens in the holder 2- put the pens in the holder 3- put the pens in the holder 4- put the pens in the holder 5- put the pens in the holder 6- put the pens in the holder 7- put the pens in the holder 8- put the pens in the holder 9- put the sticky note in the holder 10- put the sticky note in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- place the sticky note on the holder 2- place the sticky note on the holder 3- put the cards in the holder 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please stock caddy for phone room. last 20 steps: 1- put the pens in the holder 2- put the pens in the holder 3- put the pens in the holder 4- put the pens in the holder 5- put the pens in the holder 6- put the pens in the holder 7- put the pens in the holder 8- put the pens in the holder 9- put the sticky note in the holder 10- put the sticky note in the holder Q: immediate next step? \u003cPRED\u003eA: place the sticky note on the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the sticky note on 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":"4335806207565179550.mp4"}
+{"uid":"7610336151636775148","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the pens in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the pens 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 stock caddy for phone room. last 20 steps: 1- put the pens in the holder 2- put the pens in the holder 3- put the pens in the holder 4- put the pens in the holder 5- put the pens in the holder 6- put the pens in the holder 7- put the pens in the holder Q: immediate next step? \u003cPRED\u003eA: put the pens in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please stock caddy for phone room Q: immediate next step? \u003cPRED\u003eA: put the pens in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pens in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please stock caddy for phone room. last 20 steps: 1- put the pens in the holder 2- put the pens in the holder 3- put the pens in the holder 4- put the pens in the holder 5- put the pens in the holder 6- put the pens in the holder 7- put the pens in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- put the pens in the holder 2- put the sticky note in the holder 3- put the sticky note in the holder 4- place the sticky note on the holder 5- place the sticky note on the holder\n\u003c/PRED\u003e","video":"15918377525772355438.mp4"}
+{"uid":"8719747905241625557","text":"\u003ctask:success:discrete:True\u003e\nPlace glass 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: Place glass right\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups. last 20 steps: 1- stack the glass 2- stack the glass 3- stack the glass 4- stack the glass 5- stack the glass 6- Place glass right Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the cups Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups. last 20 steps: 1- stack the glass 2- stack the glass 3- stack the glass 4- stack the glass 5- stack the glass 6- Place glass right Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"18104156082098737266.mp4"}
+{"uid":"14590426616906955183","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the pens in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the pens 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":"5293284455755466227.mp4"}
+{"uid":"11580901445914944220","text":"\u003ctask:success:discrete:False\u003e\nstack 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: unstack the cups. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- stack the glass 2- stack the glass 3- stack the glass 4- stack the glass 5- stack the glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nstack 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: unstack the cups. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: stack the glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: stack the glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the cups Q: immediate next step? \u003cPRED\u003eA: stack the glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: stack the glass\n\u003c/PRED\u003e","video":"17190242141166502601.mp4"}
+{"uid":"11915856619561350022","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please stock caddy for phone room. last 20 steps: 1- put the pens in the holder 2- put the pens in the holder 3- put the pens in the holder 4- put the pens in the holder 5- put the pens in the holder 6- put the pens in the holder 7- put the pens in the holder 8- put the pens in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- put the sticky note in the holder 2- put the sticky note in the holder 3- place the sticky note on the holder 4- place the sticky note on the holder 5- put the cards 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 note in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the sticky note 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 sticky note in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please stock caddy for phone room Q: immediate next step? \u003cPRED\u003eA: put the sticky note in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please stock caddy for phone room. last 20 steps: 1- put the pens in the holder 2- put the pens in the holder 3- put the pens in the holder 4- put the pens in the holder 5- put the pens in the holder 6- put the pens in the holder 7- put the pens in the holder 8- put the pens in the holder Q: immediate next step? \u003cPRED\u003eA: put the sticky note in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the sticky note 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":"537220649946641386.mp4"}
+{"uid":"11933212959275805426","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the pens in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the pens 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":"13149252028619987665.mp4"}
+{"uid":"16923794730152994203","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the pens in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pens in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please stock caddy for phone room. last 20 steps: 1- put the pens in the holder 2- put the pens in the holder 3- put the pens in the holder 4- put the pens in the holder 5- put the pens in the holder Q: immediate next step? \u003cPRED\u003eA: put the pens in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please stock caddy for phone room Q: immediate next step? \u003cPRED\u003eA: put the pens in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the pens 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 stock caddy for phone room. last 20 steps: 1- put the pens in the holder 2- put the pens in the holder 3- put the pens in the holder 4- put the pens in the holder 5- put the pens in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- put the pens in the holder 2- put the pens in the holder 3- put the pens in the holder 4- put the sticky note in the holder 5- put the sticky note in the holder\n\u003c/PRED\u003e","video":"5884257483875331866.mp4"}
+{"uid":"9133228394259771176","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: stack the glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups. last 20 steps: 1- stack the glass 2- stack the glass 3- stack the glass Q: next 5 steps? \u003cPRED\u003eA: 1- stack the glass 2- stack the glass 3- stack the glass 4- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the cups Q: immediate next step? \u003cPRED\u003eA: stack the glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: stack the glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups. last 20 steps: 1- stack the glass 2- stack the glass 3- stack the glass Q: immediate next step? \u003cPRED\u003eA: stack the glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nstack 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":"15224824658416713587.mp4"}
+{"uid":"3609832167152058337","text":"\u003ctask:success:discrete:True\u003e\nput the pens 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 pens in the holder\n\u003c/PRED\u003e","video":"16785707085681356075.mp4"}
+{"uid":"16686353344053821889","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the candy 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":"3441497361204145647.mp4"}
+{"uid":"1720828666337455984","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":"5332556840712649526.mp4"}
+{"uid":"15443944499194315002","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please stock caddy for phone room. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put the pens in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pens in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please stock caddy for phone room Q: immediate next step? \u003cPRED\u003eA: put the pens in the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the pens in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please stock caddy for phone room. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put the pens in the holder 2- put the pens in the holder 3- put the pens in the holder 4- put the pens in the holder 5- put the pens in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the pens 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 pens 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":"16515207497076968884.mp4"}
+{"uid":"5163647264489623550","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":"10450630239995573803.mp4"}
+{"uid":"2653171623098704981","text":"\u003ctask:success:discrete:True\u003e\nput the sticky note 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 sticky note in the holder\n\u003c/PRED\u003e","video":"11661661131930235792.mp4"}
+{"uid":"11768321286166865209","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":"5601047567357352662.mp4"}
+{"uid":"6647749851524297472","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the sticky note in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please stock caddy for phone room Q: immediate next step? \u003cPRED\u003eA: put the sticky note in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the sticky note in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please stock caddy for phone room. last 20 steps: 1- put the pens in the holder 2- put the pens in the holder 3- put the pens in the holder 4- put the pens in the holder 5- put the pens in the holder 6- put the pens in the holder 7- put the pens in the holder 8- put the pens in the holder 9- put the sticky note in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- put the sticky note in the holder 2- place the sticky note on the holder 3- place the sticky note on the holder 4- put the cards in the holder 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the sticky note 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 stock caddy for phone room. last 20 steps: 1- put the pens in the holder 2- put the pens in the holder 3- put the pens in the holder 4- put the pens in the holder 5- put the pens in the holder 6- put the pens in the holder 7- put the pens in the holder 8- put the pens in the holder 9- put the sticky note in the holder Q: immediate next step? \u003cPRED\u003eA: put the sticky note in the holder\n\u003c/PRED\u003e","video":"6722756138295458344.mp4"}
+{"uid":"1927521489769791875","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":"10751586342959567055.mp4"}
+{"uid":"14124424182330778316","text":"\u003ctask:success:discrete:True\u003e\nstack 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: stack the glass\n\u003c/PRED\u003e","video":"14654385447221379674.mp4"}
+{"uid":"7990978731122207405","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":"5165289188294892157.mp4"}
+{"uid":"7348836865700486011","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pens in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please stock caddy for phone room. last 20 steps: 1- put the pens in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- put the pens in the holder 2- put the pens in the holder 3- put the pens in the holder 4- put the pens in the holder 5- put the pens in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the pens 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 stock caddy for phone room Q: immediate next step? \u003cPRED\u003eA: put the pens in the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the pens in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please stock caddy for phone room. last 20 steps: 1- put the pens in the holder Q: immediate next step? \u003cPRED\u003eA: put the pens in the holder\n\u003c/PRED\u003e","video":"5706504155155226767.mp4"}
+{"uid":"2529315262343624119","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Place glass right 2- stack the glass 3- stack the glass 4- stack the glass 5- stack the glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place glass right\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the cups Q: immediate next step? \u003cPRED\u003eA: Place glass right\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place glass right\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace glass 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Place glass right\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace glass 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","video":"7917949127485795505.mp4"}
+{"uid":"7802403386490660208","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":"1041119290381007770.mp4"}
+{"uid":"11824299855168972505","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please stock caddy for phone room. last 20 steps: 1- put the pens in the holder 2- put the pens in the holder 3- put the pens in the holder 4- put the pens in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- put the pens in the holder 2- put the pens in the holder 3- put the pens in the holder 4- put the pens in the holder 5- put the sticky note in the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the pens in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please stock caddy for phone room. last 20 steps: 1- put the pens in the holder 2- put the pens in the holder 3- put the pens in the holder 4- put the pens in the holder Q: immediate next step? \u003cPRED\u003eA: put the pens in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pens in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the pens 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 stock caddy for phone room Q: immediate next step? \u003cPRED\u003eA: put the pens in the holder\n\u003c/PRED\u003e","video":"9158385220291667316.mp4"}
+{"uid":"10186547710715096292","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups. last 20 steps: 1- stack the glass Q: immediate next step? \u003cPRED\u003eA: stack the glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nstack 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: stack the glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups. last 20 steps: 1- stack the glass Q: next 5 steps? \u003cPRED\u003eA: 1- stack the glass 2- stack the glass 3- stack the glass 4- stack the glass 5- stack the glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the cups Q: immediate next step? \u003cPRED\u003eA: stack the glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: stack the glass\n\u003c/PRED\u003e","video":"210012923779138050.mp4"}
+{"uid":"17068119322616755599","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":"1515478242430083216.mp4"}
+{"uid":"17972777721213950773","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":"33332988250395129.mp4"}
+{"uid":"10715570080109615915","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the red 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":"5629677457164856464.mp4"}
+{"uid":"3414421613021528456","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the pens in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the pens 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":"9164447018841245180.mp4"}
+{"uid":"17226045373586786279","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":"7791034286004377835.mp4"}
+{"uid":"15744252241584551662","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please stock caddy for phone room. last 20 steps: 1- put the pens in the holder 2- put the pens in the holder 3- put the pens in the holder 4- put the pens in the holder 5- put the pens in the holder 6- put the pens in the holder 7- put the pens in the holder 8- put the pens in the holder 9- put the sticky note in the holder 10- put the sticky note in the holder 11- place the sticky note on the holder Q: next 5 steps? \u003cPRED\u003eA: 1- place the sticky note on the holder 2- put the cards in the holder 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please stock caddy for phone room Q: immediate next step? \u003cPRED\u003eA: place the sticky note on the holder\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 holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the sticky note on the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the sticky note on 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 stock caddy for phone room. last 20 steps: 1- put the pens in the holder 2- put the pens in the holder 3- put the pens in the holder 4- put the pens in the holder 5- put the pens in the holder 6- put the pens in the holder 7- put the pens in the holder 8- put the pens in the holder 9- put the sticky note in the holder 10- put the sticky note in the holder 11- place the sticky note on the holder Q: immediate next step? \u003cPRED\u003eA: place the sticky note on the holder\n\u003c/PRED\u003e","video":"5263493601487357617.mp4"}
+{"uid":"7735881385757288086","text":"\u003ctask:success:discrete:True\u003e\nplace the sticky note on 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 sticky note on the holder\n\u003c/PRED\u003e","video":"15708434377039773809.mp4"}
+{"uid":"6938187606197872757","text":"\u003ctask:success:discrete:True\u003e\nstack 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: stack the glass\n\u003c/PRED\u003e","video":"495518862617281281.mp4"}
+{"uid":"8833747994480869703","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the pink packet 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":"13773346332505027116.mp4"}
+{"uid":"13683503649835320075","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":"15628091694590551707.mp4"}
+{"uid":"11662470977978499380","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups. last 20 steps: 1- stack the glass Q: next 5 steps? \u003cPRED\u003eA: 1- unstack the glass 2- stack the glass 3- stack the glass 4- stack the glass 5- stack the glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nunstack 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: unstack the glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the cups Q: immediate next step? \u003cPRED\u003eA: unstack the glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: unstack the glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups. last 20 steps: 1- stack the glass Q: immediate next step? \u003cPRED\u003eA: unstack the glass\n\u003c/PRED\u003e","video":"4075478343525054170.mp4"}
+{"uid":"5288995911485006145","text":"\u003ctask:success:discrete:True\u003e\nstack 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: stack the glass\n\u003c/PRED\u003e","video":"9017117862113502074.mp4"}
+{"uid":"15372318771019799789","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput small 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":"12357818913607766722.mp4"}
+{"uid":"13890862867422071925","text":"\u003ctask:success:discrete:True\u003e\nstack 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: stack the glass\n\u003c/PRED\u003e","video":"7889306475375615035.mp4"}
+{"uid":"7584045523899190074","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: stack the glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups. last 20 steps: 1- stack the glass 2- stack the glass 3- stack the glass 4- stack the glass Q: immediate next step? \u003cPRED\u003eA: stack the glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups. last 20 steps: 1- stack the glass 2- stack the glass 3- stack the glass 4- stack the glass Q: next 5 steps? \u003cPRED\u003eA: 1- stack the glass 2- stack the glass 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nstack 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: unstack the cups Q: immediate next step? \u003cPRED\u003eA: stack the glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: stack the glass\n\u003c/PRED\u003e","video":"10412911252470824326.mp4"}
+{"uid":"2791555498841842014","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack the cup on existing 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":"10210879328661738166.mp4"}
+{"uid":"9238006594972361719","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":"14662854236618435068.mp4"}
+{"uid":"18377692655977093882","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":"2847360602326010635.mp4"}
+{"uid":"5523565511305420098","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove towards the white 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":"9697868902997772.mp4"}
+{"uid":"5653505846226469038","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: unstack the glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the cups Q: immediate next step? \u003cPRED\u003eA: unstack the glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: unstack the glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nunstack 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: unstack the cups. last 20 steps: 1- stack the glass 2- stack the glass 3- stack the glass 4- stack the glass 5- stack the glass Q: next 5 steps? \u003cPRED\u003eA: 1- unstack the glass 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups. last 20 steps: 1- stack the glass 2- stack the glass 3- stack the glass 4- stack the glass 5- stack the glass Q: immediate next step? \u003cPRED\u003eA: unstack the glass\n\u003c/PRED\u003e","video":"14355487101699232440.mp4"}
+{"uid":"3677205135840502973","text":"\u003ctask:success:discrete:True\u003e\nPlace glass 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: Place glass right\n\u003c/PRED\u003e","video":"2679553425700284215.mp4"}
+{"uid":"13394948712784792188","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups. last 20 steps: 1- stack the glass 2- stack the glass 3- stack the glass Q: immediate next step? \u003cPRED\u003eA: unstack the glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: unstack the glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: unstack the glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nunstack 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: unstack the cups. last 20 steps: 1- stack the glass 2- stack the glass 3- stack the glass Q: next 5 steps? \u003cPRED\u003eA: 1- unstack the glass 2- stack the glass 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the cups Q: immediate next step? \u003cPRED\u003eA: unstack the glass\n\u003c/PRED\u003e","video":"10106659298552334150.mp4"}
+{"uid":"9633891807304092873","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove towards 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":"17374643646356571970.mp4"}
+{"uid":"15305797485244373484","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups. last 20 steps: 1- stack the glass 2- stack the glass 3- stack the glass 4- stack the glass Q: immediate next step? \u003cPRED\u003eA: Place glass right\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place glass right\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace glass 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: unstack the cups Q: immediate next step? \u003cPRED\u003eA: Place glass right\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place glass right\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups. last 20 steps: 1- stack the glass 2- stack the glass 3- stack the glass 4- stack the glass Q: next 5 steps? \u003cPRED\u003eA: 1- Place glass right 2- stack the glass 3- done\n\u003c/PRED\u003e","video":"15666261091622412245.mp4"}
+{"uid":"994592523674680850","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups. last 20 steps: 1- stack the glass 2- stack the glass 3- stack the glass 4- stack the glass 5- stack the glass 6- unstack the glass Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the cups Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nunstack 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups. last 20 steps: 1- stack the glass 2- stack the glass 3- stack the glass 4- stack the glass 5- stack the glass 6- unstack the glass Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: unstack the glass\n\u003c/PRED\u003e","video":"10390554965114393077.mp4"}
+{"uid":"7024616861060027862","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace a 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":"7315754023515477220.mp4"}
+{"uid":"11817264281055381308","text":"\u003ctask:success:discrete:True\u003e\nPlace glass 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: Place glass right\n\u003c/PRED\u003e","video":"583075447389650771.mp4"}
+{"uid":"14648056100254016913","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pens in the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the pens in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please stock caddy for phone room Q: immediate next step? \u003cPRED\u003eA: put the pens in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please stock caddy for phone room. last 20 steps: 1- put the pens in the holder 2- put the pens in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- put the pens in the holder 2- put the pens in the holder 3- put the pens in the holder 4- put the pens in the holder 5- put the pens in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the pens 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 stock caddy for phone room. last 20 steps: 1- put the pens in the holder 2- put the pens in the holder Q: immediate next step? \u003cPRED\u003eA: put the pens in the holder\n\u003c/PRED\u003e","video":"10093688845404431669.mp4"}
+{"uid":"2894673096745471039","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place glass right\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace glass 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","video":"3143082683891774523.mp4"}
+{"uid":"6440454186305929546","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place glass right\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups. last 20 steps: 1- stack the glass 2- stack the glass 3- stack the glass 4- stack the glass 5- stack the glass Q: next 5 steps? \u003cPRED\u003eA: 1- Place glass right 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace glass 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 glass right\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the cups Q: immediate next step? \u003cPRED\u003eA: Place glass right\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups. last 20 steps: 1- stack the glass 2- stack the glass 3- stack the glass 4- stack the glass 5- stack the glass Q: immediate next step? \u003cPRED\u003eA: Place glass right\n\u003c/PRED\u003e","video":"8163955472493960790.mp4"}
+{"uid":"8970548931894223829","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":"6482308658575721624.mp4"}
+{"uid":"12208288344771068976","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the marker in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the marker 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":"13081263777506690837.mp4"}
+{"uid":"5939201818647574294","text":"\u003ctask:success:discrete:True\u003e\nput the marker in the cotton 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 marker in the cotton box\n\u003c/PRED\u003e","video":"4790223866334391916.mp4"}
+{"uid":"11223196073393947620","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the pink packet 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":"16407229202568656650.mp4"}
+{"uid":"17974213740611482092","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up the scrubber\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick up the scrubber Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5188885169999315477.mp4"}
+{"uid":"8064211071357597012","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the duster on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5493871479376469759.mp4"}
+{"uid":"11726634060072091530","text":"\u003ctask:success:discrete:True\u003e\ndrop the black object 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 black object in the box\n\u003c/PRED\u003e","video":"5299463476777633272.mp4"}
+{"uid":"5138946634213158530","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the bowl in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop the bowl 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":"1063882695110637653.mp4"}
+{"uid":"887308481708603882","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nhandover the blue box to the person Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2950073851827912569.mp4"}
+{"uid":"11688440377043527112","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: put the black object\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the 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:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: keep the duster in the cotton box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the carton box 2- leave that packet in box 3- put the wire in box 4- put the sponge in the box 5- open the bowl in the box 6- put the marker in the box Q: immediate next step? \u003cPRED\u003eA: put the black object\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the carton box 2- leave that packet in box 3- put the wire in box 4- put the sponge in the box 5- open the bowl in the box 6- put the marker in the box Q: next 5 steps? \u003cPRED\u003eA: 1- put the black object 2- put the belt 3- put the paper punches 4- drop the wire in the box 5- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the black object\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the black object\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nkeep the duster in the cotton 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":"2387857790891037835.mp4"}
+{"uid":"1745309441510783138","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: open the carton box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nopen the carton 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":"6981705907752596388.mp4"}
+{"uid":"11774215689629968766","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":"3582898529262839551.mp4"}
+{"uid":"7974890200500507857","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":"3782984355046725996.mp4"}
+{"uid":"13744265654981787296","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the clip 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":"4632072350033585252.mp4"}
+{"uid":"9774991935571284447","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the black object in the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the carton box Q: next 5 steps? \u003cPRED\u003eA: 1- put the black object in the box 2- put the wire in box 3- put the sponge in the box 4- open the bowl in the box 5- put the marker in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the black object 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: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the carton box Q: immediate next step? \u003cPRED\u003eA: put the black object in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the black object 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: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: put the black object in the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the black object in the box\n\u003c/PRED\u003e","video":"905163160685547868.mp4"}
+{"uid":"802340373949495346","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the black 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":"13850830888508882127.mp4"}
+{"uid":"2994112879759357362","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the carton box 2- leave that packet in box 3- put the wire in box 4- put the sponge in the box Q: next 5 steps? \u003cPRED\u003eA: 1- put the bowl in the cotton box 2- pick up the scrubber 3- put the black object 4- put the belt 5- put the paper punches\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the bowl in the cotton 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 bowl in the cotton box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the bowl in the cotton box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: put the bowl in the cotton box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the bowl in the cotton 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 cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the carton box 2- leave that packet in box 3- put the wire in box 4- put the sponge in the box Q: immediate next step? \u003cPRED\u003eA: put the bowl in the cotton box\n\u003c/PRED\u003e","video":"2126435823932945179.mp4"}
+{"uid":"2219246952111733321","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the black object\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the 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","video":"14206735405065608075.mp4"}
+{"uid":"17396508547535285206","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the carton box 2- leave that packet in box 3- put the wire in box 4- put the sponge in the box 5- open the bowl in the box 6- put the marker in the box 7- pick up the scrubber 8- put the black object Q: immediate next step? \u003cPRED\u003eA: keep the brown tape in the cotton box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: keep the brown tape in the cotton box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: keep the brown tape in the cotton box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the carton box 2- leave that packet in box 3- put the wire in box 4- put the sponge in the box 5- open the bowl in the box 6- put the marker in the box 7- pick up the scrubber 8- put the black object Q: next 5 steps? \u003cPRED\u003eA: 1- keep the brown tape in the cotton box 2- put the paper punches 3- drop the wire in the box 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nkeep the brown tape in the cotton 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\nkeep the brown tape in the cotton 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: keep the brown tape in the cotton box\n\u003c/PRED\u003e","video":"8405584098556835945.mp4"}
+{"uid":"18150903403253864641","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the marker in the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the carton box 2- leave that packet in box 3- put the wire in box 4- put the sponge in the box 5- open the bowl in the box Q: immediate next step? \u003cPRED\u003eA: put the marker in the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the carton box 2- leave that packet in box 3- put the wire in box 4- put the sponge in the box 5- open the bowl in the box Q: next 5 steps? \u003cPRED\u003eA: 1- put the marker in the box 2- pick up the scrubber 3- put the black object 4- put the belt 5- put the paper punches\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the marker in the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: put the marker in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the marker 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\nput the marker 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":"14806575341342398557.mp4"}
+{"uid":"10944130649340178982","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace diet pepper 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":"2885335927703027999.mp4"}
+{"uid":"13082594740833071048","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the orange 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":"8632890496142862973.mp4"}
+{"uid":"13243212004298875579","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up the scrub 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":"9452984533581453840.mp4"}
+{"uid":"11026760509060486785","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nkeep the duster in the cotton 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: keep the duster in the cotton box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the carton box 2- leave that packet in box 3- put the wire in box 4- put the sponge in the box 5- open the bowl in the box 6- put the marker in the box Q: immediate next step? \u003cPRED\u003eA: keep the duster in the cotton box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the carton box 2- leave that packet in box 3- put the wire in box 4- put the sponge in the box 5- open the bowl in the box 6- put the marker in the box Q: next 5 steps? \u003cPRED\u003eA: 1- keep the duster in the cotton box 2- put the black object 3- put the belt 4- put the paper punches 5- drop the wire in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nkeep the duster in the cotton 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: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: keep the duster in the cotton box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: keep the duster in the cotton box\n\u003c/PRED\u003e","video":"237031056145453331.mp4"}
+{"uid":"8247986227858977534","text":"\u003ctask:success:discrete:True\u003e\nput the bowl in the cotton 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 bowl in the cotton box\n\u003c/PRED\u003e","video":"9767929512672796690.mp4"}
+{"uid":"8526531051805597383","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the small 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: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: drop the small packet\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the small packet\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the carton box 2- leave that packet in box 3- put the wire in box 4- put the sponge in the box 5- open the bowl in the box 6- put the marker in the box 7- pick up the scrubber 8- put the black object Q: immediate next step? \u003cPRED\u003eA: drop the small packet\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the small packet\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the small 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the carton box 2- leave that packet in box 3- put the wire in box 4- put the sponge in the box 5- open the bowl in the box 6- put the marker in the box 7- pick up the scrubber 8- put the black object Q: next 5 steps? \u003cPRED\u003eA: 1- drop the small packet 2- put the paper punches 3- drop the wire in the box 4- done\n\u003c/PRED\u003e","video":"9686662541446560211.mp4"}
+{"uid":"11579032663332151369","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the black color sharp object in the cotton box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the black color sharp object in the cotton 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":"7563249286812124889.mp4"}
+{"uid":"999452880175986056","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":"4536083293770939360.mp4"}
+{"uid":"13322708782014291463","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput 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":"99980073514557588.mp4"}
+{"uid":"10188719722680451970","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: keep the brown tape in the cotton box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nkeep the brown tape in the cotton 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":"7834975968955702887.mp4"}
+{"uid":"17624276882678865100","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace plastic knife 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":"15914339615820438328.mp4"}
+{"uid":"7789703948502891593","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the regulator in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop the regulator 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":"11256577050438214345.mp4"}
+{"uid":"11724001962909926903","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace a red marker in the Almirah Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16921222422483473501.mp4"}
+{"uid":"14011877544971958210","text":"\u003ctask:success:discrete:False\u003e\nkeep the battery 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the carton box Q: next 5 steps? \u003cPRED\u003eA: 1- keep the battery into the box 2- put the wire in box 3- put the sponge in the box 4- open the bowl in the box 5- put the marker in the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: keep the battery into the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: keep the battery into the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: keep the battery into the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the carton box Q: immediate next step? \u003cPRED\u003eA: keep the battery into the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nkeep the battery 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":"8636160765280599365.mp4"}
+{"uid":"18145108326944119503","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: open the bowl in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nopen the bowl 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":"2994508058463685400.mp4"}
+{"uid":"14953907935037231707","text":"\u003ctask:success:discrete:True\u003e\nkeep the battery 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: keep the battery into the box\n\u003c/PRED\u003e","video":"17724921849506943705.mp4"}
+{"uid":"5213271203127250094","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up the brown 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":"14379436424789044472.mp4"}
+{"uid":"18354942295283996210","text":"\u003ctask:success:discrete:True\u003e\nleave that 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: leave that packet in box\n\u003c/PRED\u003e","video":"5020520447764919802.mp4"}
+{"uid":"18006588559914136101","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the carton box 2- leave that packet in box 3- put the wire in box 4- put the sponge in the box 5- open the bowl in the box 6- put the marker in the box 7- pick up the scrubber Q: immediate next step? \u003cPRED\u003eA: drop the regulator in the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the regulator in the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the regulator in the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: drop the regulator in the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the carton box 2- leave that packet in box 3- put the wire in box 4- put the sponge in the box 5- open the bowl in the box 6- put the marker in the box 7- pick up the scrubber Q: next 5 steps? \u003cPRED\u003eA: 1- drop the regulator in the box 2- put the belt 3- put the paper punches 4- drop the wire in the box 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the regulator 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 regulator 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":"5484364037769742660.mp4"}
+{"uid":"10767616410682883942","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop the sponge packet in the white 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":"251330503747876676.mp4"}
+{"uid":"5118737180302973872","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop black wire in the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the carton box 2- leave that packet in box Q: immediate next step? \u003cPRED\u003eA: drop black wire in the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: drop black wire in the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop black wire in the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the carton box 2- leave that packet in box Q: next 5 steps? \u003cPRED\u003eA: 1- drop black wire in the box 2- put the sponge in the box 3- open the bowl in the box 4- put the marker in the box 5- pick up the scrubber\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop black wire 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 black wire 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":"3026212163258534336.mp4"}
+{"uid":"13198766716224749046","text":"\u003ctask:success:discrete:True\u003e\nput the sponge 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 the sponge in the box\n\u003c/PRED\u003e","video":"6639730624338789713.mp4"}
+{"uid":"6780234912015973939","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the carton box 2- leave that packet in box 3- put the wire in box 4- put the sponge in the box 5- open the bowl in the box 6- put the marker in the box 7- pick up the scrubber 8- put the black object Q: immediate next step? \u003cPRED\u003eA: put the belt\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the belt Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\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 belt Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\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 black brown object in the cotton 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 black brown object in the cotton box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the belt\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: put the belt\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the carton box 2- leave that packet in box 3- put the wire in box 4- put the sponge in the box 5- open the bowl in the box 6- put the marker in the box 7- pick up the scrubber 8- put the black object Q: next 5 steps? \u003cPRED\u003eA: 1- put the belt 2- put the paper punches 3- drop the wire in the box 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the belt\n\u003c/PRED\u003e","video":"15232210815246016130.mp4"}
+{"uid":"9078507402420655522","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":"15628164708406705835.mp4"}
+{"uid":"2720846121281176678","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":"4859201533737086849.mp4"}
+{"uid":"3123683959202512485","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput 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":"12434586140854026861.mp4"}
+{"uid":"11239585707435562219","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":"16824462280296352501.mp4"}
+{"uid":"18181123586457231735","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":"5963554743807030879.mp4"}
+{"uid":"5302068296198288711","text":"\u003ctask:success:discrete:True\u003e\nput the black object 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 the black object in the box\n\u003c/PRED\u003e","video":"11465284637794592916.mp4"}
+{"uid":"10719972589662781178","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open the cotton box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- open the cotton box 2- leave that packet in box 3- put the wire in box 4- put the sponge in the box 5- open the bowl in the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: open the cotton box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nopen the cotton 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: open the cotton box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: open the cotton box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nopen the cotton 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":"13020877990319291008.mp4"}
+{"uid":"11540287032835573887","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the black box in the cotton box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the carton box 2- leave that packet in box 3- put the wire in box 4- put the sponge in the box 5- open the bowl in the box 6- put the marker in the box 7- pick up the scrubber 8- put the black object 9- put the belt Q: immediate next step? \u003cPRED\u003eA: put the black box in the cotton box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the carton box 2- leave that packet in box 3- put the wire in box 4- put the sponge in the box 5- open the bowl in the box 6- put the marker in the box 7- pick up the scrubber 8- put the black object 9- put the belt Q: next 5 steps? \u003cPRED\u003eA: 1- put the black box in the cotton box 2- drop the wire in the box 3- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the black box in the cotton 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 black box in the cotton box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the black box in the cotton 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: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: put the black box in the cotton box\n\u003c/PRED\u003e","video":"17247216037278522359.mp4"}
+{"uid":"13718647564253082074","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the black object in the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the carton box 2- leave that packet in box 3- put the wire in box 4- put the sponge in the box 5- open the bowl in the box 6- put the marker in the box 7- pick up the scrubber 8- put the black object 9- put the belt Q: immediate next step? \u003cPRED\u003eA: put the black object in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the black object 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\nput the black object 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: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: put the black object in the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the black object in the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the carton box 2- leave that packet in box 3- put the wire in box 4- put the sponge in the box 5- open the bowl in the box 6- put the marker in the box 7- pick up the scrubber 8- put the black object 9- put the belt Q: next 5 steps? \u003cPRED\u003eA: 1- put the black object in the box 2- drop the wire in the box 3- done\n\u003c/PRED\u003e","video":"8134322702021409239.mp4"}
+{"uid":"18371151190622494554","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the carton box 2- leave that packet in box 3- put the wire in box 4- put the sponge in the box 5- open the bowl in the box 6- put the marker in the box 7- pick up the scrubber 8- put the black object 9- put the belt 10- put the paper punches Q: next 5 steps? \u003cPRED\u003eA: 1- put the brown pipe in the cotton box 2- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the brown pipe in the cotton 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 cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the carton box 2- leave that packet in box 3- put the wire in box 4- put the sponge in the box 5- open the bowl in the box 6- put the marker in the box 7- pick up the scrubber 8- put the black object 9- put the belt 10- put the paper punches Q: immediate next step? \u003cPRED\u003eA: put the brown pipe in the cotton box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the brown pipe in the cotton box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the brown pipe in the cotton box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: put the brown pipe in the cotton box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the brown pipe in the cotton 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":"5121786600259384492.mp4"}
+{"uid":"10446789743041617615","text":"\u003ctask:success:discrete:True\u003e\npick the 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 packet\n\u003c/PRED\u003e","video":"7415765717186276157.mp4"}
+{"uid":"11630351278164818669","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: put the sponge in the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the carton box 2- leave that packet in box 3- put the wire in box Q: immediate next step? \u003cPRED\u003eA: put the sponge in the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the sponge in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the sponge 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 the sponge 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 the sponge in the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the carton box 2- leave that packet in box 3- put the wire in box Q: next 5 steps? \u003cPRED\u003eA: 1- put the sponge in the box 2- open the bowl in the box 3- put the marker in the box 4- pick up the scrubber 5- put the black object\n\u003c/PRED\u003e","video":"17341551270148897342.mp4"}
+{"uid":"13508419498396180619","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the sponge in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the sponge 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: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: put the sponge in the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the sponge in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the sponge 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: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the carton box 2- leave that packet in box 3- put the wire in box 4- put the sponge in the box 5- open the bowl in the box 6- put the marker in the box Q: immediate next step? \u003cPRED\u003eA: put the sponge in the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the carton box 2- leave that packet in box 3- put the wire in box 4- put the sponge in the box 5- open the bowl in the box 6- put the marker in the box Q: next 5 steps? \u003cPRED\u003eA: 1- put the sponge in the box 2- put the belt 3- put the paper punches 4- drop the wire in the box 5- done\n\u003c/PRED\u003e","video":"9200074772902524641.mp4"}
+{"uid":"12031594751529965962","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the sponge in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the sponge 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":"16595240061542585555.mp4"}
+{"uid":"829219063757972757","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the black wire 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: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the carton box 2- leave that packet in box Q: immediate next step? \u003cPRED\u003eA: put the black wire in the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the black wire in the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: put the black wire in the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the black wire in the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the carton box 2- leave that packet in box Q: next 5 steps? \u003cPRED\u003eA: 1- put the black wire in the box 2- put the sponge in the box 3- open the bowl in the box 4- put the marker in the box 5- pick up the scrubber\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the black wire 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":"8879964488838963155.mp4"}
+{"uid":"1392657809262758681","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nArrange 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":"16827159723331271392.mp4"}
+{"uid":"15973383851151695352","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput 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":"8032433885145343495.mp4"}
+{"uid":"4252927767538618676","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":"11071626154523709144.mp4"}
+{"uid":"12934488741686869761","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the scrubber\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the carton box 2- leave that packet in box 3- put the wire in box 4- put the sponge in the box 5- open the bowl in the box 6- put the marker in the box Q: immediate next step? \u003cPRED\u003eA: pick up the scrubber\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the carton box 2- leave that packet in box 3- put the wire in box 4- put the sponge in the box 5- open the bowl in the box 6- put the marker in the box Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the scrubber 2- put the belt 3- put the paper punches 4- drop the wire in the box 5- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the scrubber\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the scrubber Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\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 cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: pick up the scrubber\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the scrubber Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5152279286000478648.mp4"}
+{"uid":"14189895466859764254","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- open the box 2- leave that packet in box 3- put the wire in box 4- put the sponge in the box 5- open the bowl in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nopen 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: open the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nopen 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: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: open the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: open the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open the box\n\u003c/PRED\u003e","video":"18051957508545153954.mp4"}
+{"uid":"17139115415928711096","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the black brown object in the cotton box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: put the black brown object in the cotton box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the black brown object in the cotton 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 black brown object in the cotton 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: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the carton box 2- leave that packet in box 3- put the wire in box 4- put the sponge in the box 5- open the bowl in the box 6- put the marker in the box 7- pick up the scrubber Q: next 5 steps? \u003cPRED\u003eA: 1- put the black brown object in the cotton box 2- put the belt 3- put the paper punches 4- drop the wire in the box 5- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the carton box 2- leave that packet in box 3- put the wire in box 4- put the sponge in the box 5- open the bowl in the box 6- put the marker in the box 7- pick up the scrubber Q: immediate next step? \u003cPRED\u003eA: put the black brown object in the cotton box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the black brown object in the cotton box\n\u003c/PRED\u003e","video":"13477937069905484050.mp4"}
+{"uid":"16508013305022470029","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the basket on 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":"1143575704213970951.mp4"}
+{"uid":"12640941635404387982","text":"\u003ctask:success:discrete:True\u003e\ndrop the small 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: drop the small packet\n\u003c/PRED\u003e","video":"17955306379572816331.mp4"}
+{"uid":"160150583362541530","text":"\u003ctask:success:discrete:True\u003e\nput the marker 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 the marker in the box\n\u003c/PRED\u003e","video":"17421054787119857575.mp4"}
+{"uid":"2817819435349127066","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the lemon sparkling water can upright on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5725266705256945385.mp4"}
+{"uid":"408634263458151770","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the marker 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 the marker in the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the carton box 2- leave that packet in box 3- put the wire in box 4- put the sponge in the box 5- open the bowl in the box Q: immediate next step? \u003cPRED\u003eA: put the marker in the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: put the marker in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the marker 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: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the carton box 2- leave that packet in box 3- put the wire in box 4- put the sponge in the box 5- open the bowl in the box Q: next 5 steps? \u003cPRED\u003eA: 1- put the marker in the box 2- pick up the scrubber 3- put the black object 4- put the belt 5- put the paper punches\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the marker in the box\n\u003c/PRED\u003e","video":"7017381323075290428.mp4"}
+{"uid":"11981200504533273571","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nleave that 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: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the carton box Q: immediate next step? \u003cPRED\u003eA: leave that packet in box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: leave that packet in box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the carton box Q: next 5 steps? \u003cPRED\u003eA: 1- leave that packet in box 2- put the wire in box 3- put the sponge in the box 4- open the bowl in the box 5- put the marker in the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: leave that packet in box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: leave that packet in box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nleave that 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","video":"9333614433776261338.mp4"}
+{"uid":"16350621272534065997","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the carton box 2- leave that packet in box 3- put the wire in box 4- put the sponge in the box Q: next 5 steps? \u003cPRED\u003eA: 1- open the bowl in the box 2- put the marker in the box 3- pick up the scrubber 4- put the black object 5- put the belt\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open the bowl in the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: open the bowl in the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the carton box 2- leave that packet in box 3- put the wire in box 4- put the sponge in the box Q: immediate next step? \u003cPRED\u003eA: open the bowl in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nopen the bowl 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\nopen the bowl 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: open the bowl in the box\n\u003c/PRED\u003e","video":"8584231239803246055.mp4"}
+{"uid":"14890145487533211807","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: drop the black object 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 object in the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the black object in the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the carton box 2- leave that packet in box 3- put the wire in box Q: immediate next step? \u003cPRED\u003eA: drop the black object in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the black object 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 object 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: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the carton box 2- leave that packet in box 3- put the wire in box Q: next 5 steps? \u003cPRED\u003eA: 1- drop the black object in the box 2- put the marker in the box 3- pick up the scrubber 4- put the black object 5- put the belt\n\u003c/PRED\u003e","video":"17411971214103285050.mp4"}
+{"uid":"6575231146968943711","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the packet\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: pick the packet\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- pick the packet 2- leave that packet in box 3- put the wire in box 4- put the sponge in the box 5- open the bowl in the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: pick the packet\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick 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: pick the packet\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick 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","video":"5480620352866614516.mp4"}
+{"uid":"15804770482012555895","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the carton box Q: immediate next step? \u003cPRED\u003eA: keep the battery into the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: keep the battery into the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nkeep the battery 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\nkeep the battery 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: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the carton box Q: next 5 steps? \u003cPRED\u003eA: 1- keep the battery into the box 2- put the wire in box 3- put the sponge in the box 4- open the bowl in the box 5- put the marker in the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: keep the battery into the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: keep the battery into the box\n\u003c/PRED\u003e","video":"8445789786386243018.mp4"}
+{"uid":"12445082748867917952","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the bowl 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 bowl in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the bowl 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: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the carton box 2- leave that packet in box 3- put the wire in box 4- put the sponge in the box Q: immediate next step? \u003cPRED\u003eA: drop the bowl in the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: drop the bowl in the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the bowl in the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the carton box 2- leave that packet in box 3- put the wire in box 4- put the sponge in the box Q: next 5 steps? \u003cPRED\u003eA: 1- drop the bowl in the box 2- put the marker in the box 3- pick up the scrubber 4- put the black object 5- put the belt\n\u003c/PRED\u003e","video":"15897219242222940467.mp4"}
+{"uid":"12307273575638489063","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput cup in 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":"11572359261756584767.mp4"}
+{"uid":"9684344265366937219","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the clip 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":"10228751064868119014.mp4"}
+{"uid":"15997562560482435682","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput spoon 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":"882882490634110975.mp4"}
+{"uid":"5588756256836184763","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":"11439407273316850479.mp4"}
+{"uid":"8675512168175721749","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the paper punches\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the paper punches Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12863386331818960981.mp4"}
+{"uid":"436753476152006292","text":"\u003ctask:success:discrete:True\u003e\nput the black box in the cotton 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 black box in the cotton box\n\u003c/PRED\u003e","video":"6056375443444888399.mp4"}
+{"uid":"13776186686961865984","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the green marker on the board slab Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3887836359287885954.mp4"}
+{"uid":"339766588720457063","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":"8053611767717940774.mp4"}
+{"uid":"17823025161881949683","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the black color sharp object in the cotton box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the carton box 2- leave that packet in box 3- put the wire in box Q: immediate next step? \u003cPRED\u003eA: put the black color sharp object in the cotton box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the black color sharp object in the cotton 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: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: put the black color sharp object in the cotton box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the black color sharp object in the cotton 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 black color sharp object in the cotton box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the carton box 2- leave that packet in box 3- put the wire in box Q: next 5 steps? \u003cPRED\u003eA: 1- put the black color sharp object in the cotton box 2- put the marker in the box 3- pick up the scrubber 4- put the black object 5- put the belt\n\u003c/PRED\u003e","video":"14616284438854148058.mp4"}
+{"uid":"4454480917702084486","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: put the marker in the cotton box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the carton box 2- leave that packet in box 3- put the wire in box 4- put the sponge in the box 5- open the bowl in the box Q: immediate next step? \u003cPRED\u003eA: put the marker in the cotton box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the marker in the cotton box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the marker in the cotton box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the carton box 2- leave that packet in box 3- put the wire in box 4- put the sponge in the box 5- open the bowl in the box Q: next 5 steps? \u003cPRED\u003eA: 1- put the marker in the cotton box 2- put the black object 3- put the belt 4- put the paper punches 5- drop the wire in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the marker in the cotton 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 the marker in the cotton 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":"18244732949734362193.mp4"}
+{"uid":"5601588962207944284","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":"14549797411524775716.mp4"}
+{"uid":"14082814973450993816","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the carton box 2- leave that packet in box Q: next 5 steps? \u003cPRED\u003eA: 1- put the wire in box 2- put the sponge in the box 3- open the bowl in the box 4- put the marker in the box 5- pick up the scrubber\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the wire 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: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the carton box 2- leave that packet in box Q: immediate next step? \u003cPRED\u003eA: put the wire in box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the wire in box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: put the wire in box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the wire 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 the wire in box\n\u003c/PRED\u003e","video":"6615184696512669620.mp4"}
+{"uid":"11670654702092823033","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: open the box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nopen 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":"9834374391007534071.mp4"}
+{"uid":"10297531557454256978","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":"5920119153389822276.mp4"}
+{"uid":"3809703290661658657","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the paper punches\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the carton box 2- leave that packet in box 3- put the wire in box 4- put the sponge in the box 5- open the bowl in the box 6- put the marker in the box 7- pick up the scrubber 8- put the black object 9- put the belt Q: immediate next step? \u003cPRED\u003eA: put the paper punches\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the belt Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\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 paper punches Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\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 cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the carton box 2- leave that packet in box 3- put the wire in box 4- put the sponge in the box 5- open the bowl in the box 6- put the marker in the box 7- pick up the scrubber 8- put the black object 9- put the belt Q: next 5 steps? \u003cPRED\u003eA: 1- put the paper punches 2- drop the wire in the box 3- done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the belt\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the paper punches Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED: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 punches\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: put the paper punches\n\u003c/PRED\u003e","video":"4303244540207781761.mp4"}
+{"uid":"8267481465568975475","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: open the cotton box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nopen the cotton 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":"16982737044608822139.mp4"}
+{"uid":"10442550587633449517","text":"\u003ctask:success:discrete:False\u003e\ndrop the wire 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 wire 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 wire in the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the carton box 2- leave that packet in box 3- put the wire in box 4- put the sponge in the box 5- open the bowl in the box 6- put the marker in the box 7- pick up the scrubber 8- put the black object 9- put the belt 10- put the paper punches Q: immediate next step? \u003cPRED\u003eA: drop the wire in the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: drop the wire in the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the wire in the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the carton box 2- leave that packet in box 3- put the wire in box 4- put the sponge in the box 5- open the bowl in the box 6- put the marker in the box 7- pick up the scrubber 8- put the black object 9- put the belt 10- put the paper punches Q: next 5 steps? \u003cPRED\u003eA: 1- drop the wire in the box 2- done\n\u003c/PRED\u003e","video":"8098487059619837360.mp4"}
+{"uid":"14159697566550892959","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the white knife on the left side of 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: Take the cups of utensils out of the top drawer and put two sets of utensils on napkins at one of the tables on the mk. last 20 steps: 1- open the top drawer 2- put the right cup on top of the drawer 3- put the middle cup on top to the drawer 4- put the left cup on top of the drawer 5- close the drawer 6- put tissue on the left side of the table 7- put tissue on the right side of the table 8- place the fork on top of right tissue 9- place the fork on top of left tissue 10- place the spoon on top of the left tissue 11- place the spoon on top of right tissue 12- place the knife on top of right tissue Q: next 5 steps? \u003cPRED\u003eA: 1- put the white knife on the left side of the tissue 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the white knife on the left side of the tissue\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take the cups of utensils out of the top drawer and put two sets of utensils on napkins at one of the tables on the mk. last 20 steps: 1- open the top drawer 2- put the right cup on top of the drawer 3- put the middle cup on top to the drawer 4- put the left cup on top of the drawer 5- close the drawer 6- put tissue on the left side of the table 7- put tissue on the right side of the table 8- place the fork on top of right tissue 9- place the fork on top of left tissue 10- place the spoon on top of the left tissue 11- place the spoon on top of right tissue 12- place the knife on top of right tissue Q: immediate next step? \u003cPRED\u003eA: put the white knife on the left side of the tissue\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the white knife on the left side of the tissue\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Take the cups of utensils out of the top drawer and put two sets of utensils on napkins at one of the tables on the mk Q: immediate next step? \u003cPRED\u003eA: put the white knife on the left side of the tissue\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the white knife on the left side of 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":"3531864963260393247.mp4"}
+{"uid":"1745404602087322111","text":"\u003ctask:success:discrete:False\u003e\npush 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: Take the cups of utensils out of the top drawer and put two sets of utensils on napkins at one of the tables on the mk. last 20 steps: 1- open the top drawer 2- put the right cup on top of the drawer 3- put the middle cup on top to the drawer 4- put the left cup on top of the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- push the drawer 2- put tissue on the left side of the table 3- put tissue on the right side of the table 4- place the fork on top of right tissue 5- place the fork on top of left tissue\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npush 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: push the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Take the cups of utensils out of the top drawer and put two sets of utensils on napkins at one of the tables on the mk Q: immediate next step? \u003cPRED\u003eA: push the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take the cups of utensils out of the top drawer and put two sets of utensils on napkins at one of the tables on the mk. last 20 steps: 1- open the top drawer 2- put the right cup on top of the drawer 3- put the middle cup on top to the drawer 4- put the left cup on top of the drawer Q: immediate next step? \u003cPRED\u003eA: push the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: push the drawer\n\u003c/PRED\u003e","video":"6083387792235921971.mp4"}
+{"uid":"2175496831811114255","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop 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":"6239310090997893335.mp4"}
+{"uid":"14351456112148763863","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput 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 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":"16880555129288291697.mp4"}
+{"uid":"11699273405255387034","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take the cups of utensils out of the top drawer and put two sets of utensils on napkins at one of the tables on the mk. last 20 steps: 1- open the top drawer 2- put the right cup on top of the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- put the middle cup on top to the drawer 2- put the left cup on top of the drawer 3- close the drawer 4- put tissue on the left side of the table 5- put tissue on the right side of the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the middle cup on top to 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: Take the cups of utensils out of the top drawer and put two sets of utensils on napkins at one of the tables on the mk. last 20 steps: 1- open the top drawer 2- put the right cup on top of the drawer Q: immediate next step? \u003cPRED\u003eA: put the middle cup on top to the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the middle cup on top to the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the middle cup on top to 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 the middle cup on top to the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Take the cups of utensils out of the top drawer and put two sets of utensils on napkins at one of the tables on the mk Q: immediate next step? \u003cPRED\u003eA: put the middle cup on top to the drawer\n\u003c/PRED\u003e","video":"16180811040681025507.mp4"}
+{"uid":"7628370922125711141","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":"17261671565762989953.mp4"}
+{"uid":"8916042843235061613","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput 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":"8090567627168307849.mp4"}
+{"uid":"7863892992745262061","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":"6376674579723157342.mp4"}
+{"uid":"5927460362537068893","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the spoon on top of the left tissue\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take the cups of utensils out of the top drawer and put two sets of utensils on napkins at one of the tables on the mk. last 20 steps: 1- open the top drawer 2- put the right cup on top of the drawer 3- put the middle cup on top to the drawer 4- put the left cup on top of the drawer 5- close the drawer 6- put tissue on the left side of the table 7- put tissue on the right side of the table 8- place the fork on top of right tissue 9- place the fork on top of left tissue Q: immediate next step? \u003cPRED\u003eA: place the spoon on top of the left tissue\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the spoon on top of the left 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the spoon on top of the left tissue\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Take the cups of utensils out of the top drawer and put two sets of utensils on napkins at one of the tables on the mk Q: immediate next step? \u003cPRED\u003eA: place the spoon on top of the left tissue\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take the cups of utensils out of the top drawer and put two sets of utensils on napkins at one of the tables on the mk. last 20 steps: 1- open the top drawer 2- put the right cup on top of the drawer 3- put the middle cup on top to the drawer 4- put the left cup on top of the drawer 5- close the drawer 6- put tissue on the left side of the table 7- put tissue on the right side of the table 8- place the fork on top of right tissue 9- place the fork on top of left tissue Q: next 5 steps? \u003cPRED\u003eA: 1- place the spoon on top of the left tissue 2- place the spoon on top of right tissue 3- place the knife on top of right tissue 4- place the knife on top of left  tissue 5- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the spoon on top of the left 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":"4151130077005717773.mp4"}
+{"uid":"7835817923818846046","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Take the cups of utensils out of the top drawer and put two sets of utensils on napkins at one of the tables on the mk Q: immediate next step? \u003cPRED\u003eA: put the white pork on the right side of the tissue\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take the cups of utensils out of the top drawer and put two sets of utensils on napkins at one of the tables on the mk. last 20 steps: 1- open the top drawer 2- put the right cup on top of the drawer 3- put the middle cup on top to the drawer 4- put the left cup on top of the drawer 5- close the drawer 6- put tissue on the left side of the table 7- put tissue on the right side of the table Q: next 5 steps? \u003cPRED\u003eA: 1- put the white pork on the right side of the tissue 2- place the fork on top of left tissue 3- place the spoon on top of the left tissue 4- place the spoon on top of right tissue 5- place the knife on top of right tissue\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take the cups of utensils out of the top drawer and put two sets of utensils on napkins at one of the tables on the mk. last 20 steps: 1- open the top drawer 2- put the right cup on top of the drawer 3- put the middle cup on top to the drawer 4- put the left cup on top of the drawer 5- close the drawer 6- put tissue on the left side of the table 7- put tissue on the right side of the table Q: immediate next step? \u003cPRED\u003eA: put the white pork on the right side of the tissue\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the white pork on the right side of the tissue\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the white pork on the right side of the tissue\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the white pork on the right side of 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:success:discrete:False\u003e\nput the white pork on the right side of 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":"2634199854590353596.mp4"}
+{"uid":"13486765874264509410","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the tissue on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the 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":"11116017400562059941.mp4"}
+{"uid":"2687514577621699883","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick the top right 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":"17202748160988518219.mp4"}
+{"uid":"15108865997630061448","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put tissue on the left side of the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput tissue on the left side of 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":"7168036872079945215.mp4"}
+{"uid":"17580213961987231689","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the tissue on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the 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":"721214457726154861.mp4"}
+{"uid":"6371456329021860143","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":"974213226291707362.mp4"}
+{"uid":"12024220857061934058","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take the cups of utensils out of the top drawer and put two sets of utensils on napkins at one of the tables on the mk. last 20 steps: 1- open the top drawer 2- put the right cup on top of the drawer 3- put the middle cup on top to the drawer 4- put the left cup on top of the drawer 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: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\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take the cups of utensils out of the top drawer and put two sets of utensils on napkins at one of the tables on the mk. last 20 steps: 1- open the top drawer 2- put the right cup on top of the drawer 3- put the middle cup on top to the drawer 4- put the left cup on top of the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- close the drawer 2- put tissue on the right side of the table 3- place the fork on top of right tissue 4- place the fork on top of left tissue 5- place the spoon on top of the left tissue\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 the cups of utensils out of the top drawer and put two sets of utensils on napkins at one of the tables on the mk Q: immediate next step? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e","video":"10265447212189308056.mp4"}
+{"uid":"10987656154355972545","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take the cups of utensils out of the top drawer and put two sets of utensils on napkins at one of the tables on the mk. last 20 steps: 1- open the top drawer Q: next 5 steps? \u003cPRED\u003eA: 1- place the glass above the drawer 2- put the middle cup on top to the drawer 3- put the left cup on top of the drawer 4- close the drawer 5- put tissue on the left side of the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the glass above 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 glass above the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the glass above 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 the cups of utensils out of the top drawer and put two sets of utensils on napkins at one of the tables on the mk Q: immediate next step? \u003cPRED\u003eA: place the glass above the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the glass above the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take the cups of utensils out of the top drawer and put two sets of utensils on napkins at one of the tables on the mk. last 20 steps: 1- open the top drawer Q: immediate next step? \u003cPRED\u003eA: place the glass above the drawer\n\u003c/PRED\u003e","video":"11754934731785265618.mp4"}
+{"uid":"1600030873714657941","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":"4511062505271554367.mp4"}
+{"uid":"983911819362687976","text":"\u003ctask:success:discrete:True\u003e\nput the white spoon on the left side of 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 the white spoon on the left side of the tissue\n\u003c/PRED\u003e","video":"9650899259728691069.mp4"}
+{"uid":"7842137397804464191","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the sticky note 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":"16285751896481629959.mp4"}
+{"uid":"5628826416883524598","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the smart food 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":"6854465237125285149.mp4"}
+{"uid":"663376276697914804","text":"\u003ctask:success:discrete:True\u003e\nplace the spoon on top of the left 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 the spoon on top of the left tissue\n\u003c/PRED\u003e","video":"17292075114634349545.mp4"}
+{"uid":"4955248748234914503","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":"8088439121273622991.mp4"}
+{"uid":"11112536483709356733","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take the cups of utensils out of the top drawer and put two sets of utensils on napkins at one of the tables on the mk. last 20 steps: 1- open the top drawer 2- put the right cup on top of the drawer 3- put the middle cup on top to the drawer 4- put the left cup on top of the drawer 5- close the drawer 6- put tissue on the left side of the table 7- put tissue on the right side of the table 8- place the fork on top of right tissue Q: next 5 steps? \u003cPRED\u003eA: 1- Put a plastic fork on the tissue 2- place the spoon on top of right tissue 3- place the knife on top of right tissue 4- place the knife on top of left  tissue 5- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take the cups of utensils out of the top drawer and put two sets of utensils on napkins at one of the tables on the mk. last 20 steps: 1- open the top drawer 2- put the right cup on top of the drawer 3- put the middle cup on top to the drawer 4- put the left cup on top of the drawer 5- close the drawer 6- put tissue on the left side of the table 7- put tissue on the right side of the table 8- place the fork on top of right tissue Q: immediate next step? \u003cPRED\u003eA: Put a plastic fork on the tissue\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut a plastic fork 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:planning:freeform\u003e\ncurrent goal is: Take the cups of utensils out of the top drawer and put two sets of utensils on napkins at one of the tables on the mk Q: immediate next step? \u003cPRED\u003eA: Put a plastic fork on the tissue\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put a plastic fork on the tissue\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put a plastic fork on the tissue\n\u003c/PRED\u003e","video":"10364893041937881946.mp4"}
+{"uid":"11880724732786406159","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Take the cups of utensils out of the top drawer and put two sets of utensils on napkins at one of the tables on the mk Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take the cups of utensils out of the top drawer and put two sets of utensils on napkins at one of the tables on the mk. last 20 steps: 1- open the top drawer 2- put the right cup on top of the drawer 3- put the middle cup on top to the drawer 4- put the left cup on top of the drawer 5- close the drawer 6- put tissue on the left side of the table 7- put tissue on the right side of the table 8- place the fork on top of right tissue 9- place the fork on top of left tissue 10- place the spoon on top of the left tissue 11- place the spoon on top of right tissue 12- place the knife on top of right tissue 13- put the white knife on the left side of the tissue Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take the cups of utensils out of the top drawer and put two sets of utensils on napkins at one of the tables on the mk. last 20 steps: 1- open the top drawer 2- put the right cup on top of the drawer 3- put the middle cup on top to the drawer 4- put the left cup on top of the drawer 5- close the drawer 6- put tissue on the left side of the table 7- put tissue on the right side of the table 8- place the fork on top of right tissue 9- place the fork on top of left tissue 10- place the spoon on top of the left tissue 11- place the spoon on top of right tissue 12- place the knife on top of right tissue 13- put the white knife on the left side of the tissue 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 knife on the left side of the tissue\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the white knife on the left side of 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","video":"2930035273058426716.mp4"}
+{"uid":"10023523199669538934","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Take the cups of utensils out of the top drawer and put two sets of utensils on napkins at one of the tables on the mk Q: immediate next step? \u003cPRED\u003eA: Put a plastic spoon on the tissue\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put a plastic spoon on the tissue\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut a plastic 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: Take the cups of utensils out of the top drawer and put two sets of utensils on napkins at one of the tables on the mk. last 20 steps: 1- open the top drawer 2- put the right cup on top of the drawer 3- put the middle cup on top to the drawer 4- put the left cup on top of the drawer 5- close the drawer 6- put tissue on the left side of the table 7- put tissue on the right side of the table 8- place the fork on top of right tissue 9- place the fork on top of left tissue 10- place the spoon on top of the left tissue Q: next 5 steps? \u003cPRED\u003eA: 1- Put a plastic spoon on the tissue 2- place the knife on top of left  tissue 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put a plastic spoon on the tissue\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take the cups of utensils out of the top drawer and put two sets of utensils on napkins at one of the tables on the mk. last 20 steps: 1- open the top drawer 2- put the right cup on top of the drawer 3- put the middle cup on top to the drawer 4- put the left cup on top of the drawer 5- close the drawer 6- put tissue on the left side of the table 7- put tissue on the right side of the table 8- place the fork on top of right tissue 9- place the fork on top of left tissue 10- place the spoon on top of the left tissue Q: immediate next step? \u003cPRED\u003eA: Put a plastic spoon on the tissue\n\u003c/PRED\u003e","video":"7815026722728632050.mp4"}
+{"uid":"18309604415431946393","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":"6758689926680184825.mp4"}
+{"uid":"10579423058581358327","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the white pork on the right side of the tissue\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the white pork on the right side of 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","video":"17518095718821605540.mp4"}
+{"uid":"7342419255578826540","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put a plastic fork on the tissue\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take the cups of utensils out of the top drawer and put two sets of utensils on napkins at one of the tables on the mk. last 20 steps: 1- open the top drawer 2- put the right cup on top of the drawer 3- put the middle cup on top to the drawer 4- put the left cup on top of the drawer 5- close the drawer 6- put tissue on the left side of the table 7- put tissue on the right side of the table Q: immediate next step? \u003cPRED\u003eA: Put a plastic fork on the tissue\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Take the cups of utensils out of the top drawer and put two sets of utensils on napkins at one of the tables on the mk Q: immediate next step? \u003cPRED\u003eA: Put a plastic fork on the tissue\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put a plastic fork on the tissue\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut a plastic fork 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: Take the cups of utensils out of the top drawer and put two sets of utensils on napkins at one of the tables on the mk. last 20 steps: 1- open the top drawer 2- put the right cup on top of the drawer 3- put the middle cup on top to the drawer 4- put the left cup on top of the drawer 5- close the drawer 6- put tissue on the left side of the table 7- put tissue on the right side of the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put a plastic fork on the tissue 2- place the fork on top of left tissue 3- place the spoon on top of the left tissue 4- place the spoon on top of right tissue 5- place the knife on top of right tissue\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut a plastic fork 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":"3088784235610202923.mp4"}
+{"uid":"17190557829315665818","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put a plastic knife on the tissue\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Take the cups of utensils out of the top drawer and put two sets of utensils on napkins at one of the tables on the mk Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take the cups of utensils out of the top drawer and put two sets of utensils on napkins at one of the tables on the mk. last 20 steps: 1- open the top drawer 2- put the right cup on top of the drawer 3- put the middle cup on top to the drawer 4- put the left cup on top of the drawer 5- close the drawer 6- put tissue on the left side of the table 7- put tissue on the right side of the table 8- place the fork on top of right tissue 9- place the fork on top of left tissue 10- place the spoon on top of the left tissue 11- place the spoon on top of right tissue 12- place the knife on top of right tissue 13- Put a plastic knife on the tissue Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut a plastic knife 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take the cups of utensils out of the top drawer and put two sets of utensils on napkins at one of the tables on the mk. last 20 steps: 1- open the top drawer 2- put the right cup on top of the drawer 3- put the middle cup on top to the drawer 4- put the left cup on top of the drawer 5- close the drawer 6- put tissue on the left side of the table 7- put tissue on the right side of the table 8- place the fork on top of right tissue 9- place the fork on top of left tissue 10- place the spoon on top of the left tissue 11- place the spoon on top of right tissue 12- place the knife on top of right tissue 13- Put a plastic knife on the tissue Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"10049745821001013189.mp4"}
+{"uid":"6732087037037015465","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Take the cups of utensils out of the top drawer and put two sets of utensils on napkins at one of the tables on the mk Q: immediate next step? \u003cPRED\u003eA: Place the tissue on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the tissue on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take the cups of utensils out of the top drawer and put two sets of utensils on napkins at one of the tables on the mk. last 20 steps: 1- open the top drawer 2- put the right cup on top of the drawer 3- put the middle cup on top to the drawer 4- put the left cup on top of the drawer 5- close the drawer 6- put tissue on the left side of the table Q: immediate next step? \u003cPRED\u003eA: Place the tissue on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the tissue on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take the cups of utensils out of the top drawer and put two sets of utensils on napkins at one of the tables on the mk. last 20 steps: 1- open the top drawer 2- put the right cup on top of the drawer 3- put the middle cup on top to the drawer 4- put the left cup on top of the drawer 5- close the drawer 6- put tissue on the left side of the table Q: next 5 steps? \u003cPRED\u003eA: 1- Place the tissue on the table 2- place the fork on top of right tissue 3- place the fork on top of left tissue 4- place the spoon on top of the left tissue 5- place the spoon on top of right tissue\n\u003c/PRED\u003e","video":"4114492224176251504.mp4"}
+{"uid":"9830406175152939013","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput blue 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":"7778893935369246176.mp4"}
+{"uid":"15645625481495402060","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nLift your arm Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7703829477141850895.mp4"}
+{"uid":"1275496449764577176","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the left cup on top of the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take the cups of utensils out of the top drawer and put two sets of utensils on napkins at one of the tables on the mk. last 20 steps: 1- open the top drawer 2- put the right cup on top of the drawer 3- put the middle cup on top to the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- put the left cup on top of the drawer 2- close the drawer 3- put tissue on the left side of the table 4- put tissue on the right side of the table 5- place the fork on top of right tissue\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take the cups of utensils out of the top drawer and put two sets of utensils on napkins at one of the tables on the mk. last 20 steps: 1- open the top drawer 2- put the right cup on top of the drawer 3- put the middle cup on top to the drawer Q: immediate next step? \u003cPRED\u003eA: put the left cup on top of the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the left cup on top of 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 the left cup on top of 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 the left cup on top of the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Take the cups of utensils out of the top drawer and put two sets of utensils on napkins at one of the tables on the mk Q: immediate next step? \u003cPRED\u003eA: put the left cup on top of the drawer\n\u003c/PRED\u003e","video":"7375511868534263522.mp4"}
+{"uid":"8681252986112967887","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nLift the top yellow 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":"11036952825758532530.mp4"}
+{"uid":"8017794655254274551","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the cup on the bench Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\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 cups of utensils out of the top drawer and put two sets of utensils on napkins at one of the tables on the mk Q: immediate next step? \u003cPRED\u003eA: put the cup on the bench\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the cup on the bench\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take the cups of utensils out of the top drawer and put two sets of utensils on napkins at one of the tables on the mk. last 20 steps: 1- open the top drawer 2- put the right cup on top of the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- put the cup on the bench 2- put the left cup on top of the drawer 3- close the drawer 4- put tissue on the left side of the table 5- put tissue on the right side of the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take the cups of utensils out of the top drawer and put two sets of utensils on napkins at one of the tables on the mk. last 20 steps: 1- open the top drawer 2- put the right cup on top of the drawer Q: immediate next step? \u003cPRED\u003eA: put the cup on the bench\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the cup on the bench\n\u003c/PRED\u003e","video":"16582119160581462013.mp4"}
+{"uid":"12267445215554040225","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the fork on top of left tissue\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the fork on top of left 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","video":"6621425985598588251.mp4"}
+{"uid":"15843413214777222149","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nGrab the top duster 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":"11347803407524561184.mp4"}
+{"uid":"12950185849823035455","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Take the cups of utensils out of the top drawer and put two sets of utensils on napkins at one of the tables on the mk Q: immediate next step? \u003cPRED\u003eA: place the fork on top of right tissue\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the fork on top of right 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:success:discrete:False\u003e\nplace the fork on top of right 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 the fork on top of right tissue\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take the cups of utensils out of the top drawer and put two sets of utensils on napkins at one of the tables on the mk. last 20 steps: 1- open the top drawer 2- put the right cup on top of the drawer 3- put the middle cup on top to the drawer 4- put the left cup on top of the drawer 5- close the drawer 6- put tissue on the left side of the table 7- put tissue on the right side of the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the fork on top of right tissue 2- place the fork on top of left tissue 3- place the spoon on top of the left tissue 4- place the spoon on top of right tissue 5- place the knife on top of right tissue\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the fork on top of right tissue\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take the cups of utensils out of the top drawer and put two sets of utensils on napkins at one of the tables on the mk. last 20 steps: 1- open the top drawer 2- put the right cup on top of the drawer 3- put the middle cup on top to the drawer 4- put the left cup on top of the drawer 5- close the drawer 6- put tissue on the left side of the table 7- put tissue on the right side of the table Q: immediate next step? \u003cPRED\u003eA: place the fork on top of right tissue\n\u003c/PRED\u003e","video":"17940363549282501358.mp4"}
+{"uid":"14353984893722009415","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take the cups of utensils out of the top drawer and put two sets of utensils on napkins at one of the tables on the mk. last 20 steps: 1- open the top drawer 2- put the right cup on top of the drawer 3- put the middle cup on top to the drawer 4- put the left cup on top of the drawer 5- close the drawer 6- put tissue on the left side of the table 7- put tissue on the right side of the table 8- place the fork on top of right tissue 9- place the fork on top of left tissue 10- place the spoon on top of the left tissue 11- place the spoon on top of right tissue Q: immediate next step? \u003cPRED\u003eA: Put a plastic knife on the tissue\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put a plastic knife on the tissue\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take the cups of utensils out of the top drawer and put two sets of utensils on napkins at one of the tables on the mk. last 20 steps: 1- open the top drawer 2- put the right cup on top of the drawer 3- put the middle cup on top to the drawer 4- put the left cup on top of the drawer 5- close the drawer 6- put tissue on the left side of the table 7- put tissue on the right side of the table 8- place the fork on top of right tissue 9- place the fork on top of left tissue 10- place the spoon on top of the left tissue 11- place the spoon on top of right tissue Q: next 5 steps? \u003cPRED\u003eA: 1- Put a plastic knife on the tissue 2- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut a plastic knife 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put a plastic knife on the tissue\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Take the cups of utensils out of the top drawer and put two sets of utensils on napkins at one of the tables on the mk Q: immediate next step? \u003cPRED\u003eA: Put a plastic knife on the tissue\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut a plastic knife 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","video":"3108610165842553225.mp4"}
+{"uid":"12121093959936526796","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Take the cups of utensils out of the top drawer and put two sets of utensils on napkins at one of the tables on the mk Q: immediate next step? \u003cPRED\u003eA: Put a plastic spoon on the tissue\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut a plastic 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: Put a plastic spoon on the tissue\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut a plastic 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: Take the cups of utensils out of the top drawer and put two sets of utensils on napkins at one of the tables on the mk. last 20 steps: 1- open the top drawer 2- put the right cup on top of the drawer 3- put the middle cup on top to the drawer 4- put the left cup on top of the drawer 5- close the drawer 6- put tissue on the left side of the table 7- put tissue on the right side of the table 8- place the fork on top of right tissue 9- place the fork on top of left tissue Q: immediate next step? \u003cPRED\u003eA: Put a plastic spoon on the tissue\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put a plastic spoon on the tissue\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take the cups of utensils out of the top drawer and put two sets of utensils on napkins at one of the tables on the mk. last 20 steps: 1- open the top drawer 2- put the right cup on top of the drawer 3- put the middle cup on top to the drawer 4- put the left cup on top of the drawer 5- close the drawer 6- put tissue on the left side of the table 7- put tissue on the right side of the table 8- place the fork on top of right tissue 9- place the fork on top of left tissue Q: next 5 steps? \u003cPRED\u003eA: 1- Put a plastic spoon on the tissue 2- place the spoon on top of right tissue 3- place the knife on top of right tissue 4- place the knife on top of left  tissue 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:False\u003e\nplace coffee cup lids in the glass 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":"2823474275892544008.mp4"}
+{"uid":"17353444919309632405","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":"4475513396071460885.mp4"}
+{"uid":"2243138664720344538","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Take the cups of utensils out of the top drawer and put two sets of utensils on napkins at one of the tables on the mk Q: immediate next step? \u003cPRED\u003eA: put the cup on the bench\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the cup on the bench\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the cup on the bench\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the cup on the bench Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED: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 cups of utensils out of the top drawer and put two sets of utensils on napkins at one of the tables on the mk. last 20 steps: 1- open the top drawer 2- put the right cup on top of the drawer 3- put the middle cup on top to the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- put the cup on the bench 2- close the drawer 3- put tissue on the left side of the table 4- put tissue on the right side of the table 5- place the fork on top of right tissue\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take the cups of utensils out of the top drawer and put two sets of utensils on napkins at one of the tables on the mk. last 20 steps: 1- open the top drawer 2- put the right cup on top of the drawer 3- put the middle cup on top to the drawer Q: immediate next step? \u003cPRED\u003eA: put the cup on the bench\n\u003c/PRED\u003e","video":"15261624628606982608.mp4"}
+{"uid":"7452365865809180959","text":"\u003ctask:success:discrete:False\u003e\nput the white knife on the right side of 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the white knife on the right side of the tissue\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the white knife on the right side of the tissue\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Take the cups of utensils out of the top drawer and put two sets of utensils on napkins at one of the tables on the mk Q: immediate next step? \u003cPRED\u003eA: put the white knife on the right side of the tissue\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take the cups of utensils out of the top drawer and put two sets of utensils on napkins at one of the tables on the mk. last 20 steps: 1- open the top drawer 2- put the right cup on top of the drawer 3- put the middle cup on top to the drawer 4- put the left cup on top of the drawer 5- close the drawer 6- put tissue on the left side of the table 7- put tissue on the right side of the table 8- place the fork on top of right tissue 9- place the fork on top of left tissue 10- place the spoon on top of the left tissue 11- place the spoon on top of right tissue Q: next 5 steps? \u003cPRED\u003eA: 1- put the white knife on the right side of the tissue 2- place the knife on top of left  tissue 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the white knife on the right side of 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: Take the cups of utensils out of the top drawer and put two sets of utensils on napkins at one of the tables on the mk. last 20 steps: 1- open the top drawer 2- put the right cup on top of the drawer 3- put the middle cup on top to the drawer 4- put the left cup on top of the drawer 5- close the drawer 6- put tissue on the left side of the table 7- put tissue on the right side of the table 8- place the fork on top of right tissue 9- place the fork on top of left tissue 10- place the spoon on top of the left tissue 11- place the spoon on top of right tissue Q: immediate next step? \u003cPRED\u003eA: put the white knife on the right side of the tissue\n\u003c/PRED\u003e","video":"5826757011386052043.mp4"}
+{"uid":"6095051940734012935","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace 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:planning:freeform\u003e\ncurrent goal is: Take the cups of utensils out of the top drawer and put two sets of utensils on napkins at one of the tables on the mk Q: immediate next step? \u003cPRED\u003eA: put the tissue on the left side of the bench\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the tissue on the left side of the bench Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\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 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:success:discrete:False\u003e\nput the tissue on the left side of the bench Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\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 tissue on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the tissue on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take the cups of utensils out of the top drawer and put two sets of utensils on napkins at one of the tables on the mk. last 20 steps: 1- open the top drawer 2- put the right cup on top of the drawer 3- put the middle cup on top to the drawer 4- put the left cup on top of the drawer 5- close the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- put the tissue on the left side of the bench 2- put tissue on the right side of the table 3- place the fork on top of right tissue 4- place the fork on top of left tissue 5- place the spoon on top of the left tissue\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the tissue on the left side of the bench\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take the cups of utensils out of the top drawer and put two sets of utensils on napkins at one of the tables on the mk. last 20 steps: 1- open the top drawer 2- put the right cup on top of the drawer 3- put the middle cup on top to the drawer 4- put the left cup on top of the drawer 5- close the drawer Q: immediate next step? \u003cPRED\u003eA: put the tissue on the left side of the bench\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take the cups of utensils out of the top drawer and put two sets of utensils on napkins at one of the tables on the mk. last 20 steps: 1- open the top drawer 2- put the right cup on top of the drawer 3- put the middle cup on top to the drawer 4- put the left cup on top of the drawer 5- close the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- Place the tissue on the table 2- put tissue on the right side of the table 3- place the fork on top of right tissue 4- place the fork on top of left tissue 5- place the spoon on top of the left tissue\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the tissue on the left side of the bench\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Take the cups of utensils out of the top drawer and put two sets of utensils on napkins at one of the tables on the mk Q: immediate next step? \u003cPRED\u003eA: Place the tissue on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take the cups of utensils out of the top drawer and put two sets of utensils on napkins at one of the tables on the mk. last 20 steps: 1- open the top drawer 2- put the right cup on top of the drawer 3- put the middle cup on top to the drawer 4- put the left cup on top of the drawer 5- close the drawer Q: immediate next step? \u003cPRED\u003eA: Place the tissue on the table\n\u003c/PRED\u003e","video":"12148500523572257193.mp4"}
+{"uid":"13635800648282448301","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nenter the room with 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":"15727400900808853185.mp4"}
+{"uid":"9956284321047826249","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take the cups of utensils out of the top drawer and put two sets of utensils on napkins at one of the tables on the mk. last 20 steps: 1- open the top drawer 2- put the right cup on top of the drawer 3- put the middle cup on top to the drawer 4- put the left cup on top of the drawer 5- close the drawer 6- put tissue on the left side of the table 7- put tissue on the right side of the table 8- place the fork on top of right tissue 9- place the fork on top of left tissue 10- place the spoon on top of the left tissue 11- place the spoon on top of right tissue 12- place the knife on top of right tissue 13- place the knife on top of left  tissue Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take the cups of utensils out of the top drawer and put two sets of utensils on napkins at one of the tables on the mk. last 20 steps: 1- open the top drawer 2- put the right cup on top of the drawer 3- put the middle cup on top to the drawer 4- put the left cup on top of the drawer 5- close the drawer 6- put tissue on the left side of the table 7- put tissue on the right side of the table 8- place the fork on top of right tissue 9- place the fork on top of left tissue 10- place the spoon on top of the left tissue 11- place the spoon on top of right tissue 12- place the knife on top of right tissue 13- place the knife on top of left  tissue Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the knife on top of left  tissue\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the knife on top of left  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:planning:freeform\u003e\ncurrent goal is: Take the cups of utensils out of the top drawer and put two sets of utensils on napkins at one of the tables on the mk Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"12123665030837994498.mp4"}
+{"uid":"3877549062814005830","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":"6051134910745983394.mp4"}
+{"uid":"16770181282520058546","text":"\u003ctask:success:discrete:True\u003e\nplace the spoon on top of right 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 the spoon on top of right tissue\n\u003c/PRED\u003e","video":"14163149686317666548.mp4"}
+{"uid":"8937469276965647837","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the white pork on the left side of 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: Take the cups of utensils out of the top drawer and put two sets of utensils on napkins at one of the tables on the mk. last 20 steps: 1- open the top drawer 2- put the right cup on top of the drawer 3- put the middle cup on top to the drawer 4- put the left cup on top of the drawer 5- close the drawer 6- put tissue on the left side of the table 7- put tissue on the right side of the table 8- place the fork on top of right tissue Q: next 5 steps? \u003cPRED\u003eA: 1- put the white pork on the left side of the tissue 2- place the spoon on top of the left tissue 3- place the spoon on top of right tissue 4- place the knife on top of right tissue 5- place the knife on top of left  tissue\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take the cups of utensils out of the top drawer and put two sets of utensils on napkins at one of the tables on the mk. last 20 steps: 1- open the top drawer 2- put the right cup on top of the drawer 3- put the middle cup on top to the drawer 4- put the left cup on top of the drawer 5- close the drawer 6- put tissue on the left side of the table 7- put tissue on the right side of the table 8- place the fork on top of right tissue Q: immediate next step? \u003cPRED\u003eA: put the white pork on the left side of the tissue\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Take the cups of utensils out of the top drawer and put two sets of utensils on napkins at one of the tables on the mk Q: immediate next step? \u003cPRED\u003eA: put the white pork on the left side of the tissue\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the white pork on the left side of the tissue\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the white pork on the left side of the tissue\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the white pork on the left side of 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":"3097092631168034747.mp4"}
+{"uid":"10295385658257992737","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take the cups of utensils out of the top drawer and put two sets of utensils on napkins at one of the tables on the mk. last 20 steps: 1- open the top drawer 2- put the right cup on top of the drawer 3- put the middle cup on top to the drawer 4- put the left cup on top of the drawer 5- close the drawer 6- put tissue on the left side of the table 7- put tissue on the right side of the table 8- place the fork on top of right tissue Q: next 5 steps? \u003cPRED\u003eA: 1- place the fork on top of left tissue 2- place the spoon on top of the left tissue 3- place the spoon on top of right tissue 4- place the knife on top of right tissue 5- place the knife on top of left  tissue\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put a plastic fork on the tissue\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take the cups of utensils out of the top drawer and put two sets of utensils on napkins at one of the tables on the mk. last 20 steps: 1- open the top drawer 2- put the right cup on top of the drawer 3- put the middle cup on top to the drawer 4- put the left cup on top of the drawer 5- close the drawer 6- put tissue on the left side of the table 7- put tissue on the right side of the table 8- place the fork on top of right tissue Q: immediate next step? \u003cPRED\u003eA: place the fork on top of left tissue\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the fork on top of right tissue\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut a plastic fork 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the fork on top of left tissue\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the fork on top of right 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:affordance:discriminative:discrete:True\u003e\nplace the fork on top of left 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the fork on top of left tissue\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Take the cups of utensils out of the top drawer and put two sets of utensils on napkins at one of the tables on the mk Q: immediate next step? \u003cPRED\u003eA: place the fork on top of left tissue\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the fork on top of left 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":"15498675688861884244.mp4"}
+{"uid":"1378417616766292287","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace 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":"7308967682493882079.mp4"}
+{"uid":"13674482943174848579","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":"4151288393230534792.mp4"}
+{"uid":"10454538286375388619","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put a plastic fork on the tissue\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut a plastic fork 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","video":"15533389576433521035.mp4"}
+{"uid":"9412460976873009777","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the 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":"6377997278789318420.mp4"}
+{"uid":"9657330164789325891","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open the top drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take the cups of utensils out of the top drawer and put two sets of utensils on napkins at one of the tables on the mk. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: open the top drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nopen the top 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: Take the cups of utensils out of the top drawer and put two sets of utensils on napkins at one of the tables on the mk. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- open the top drawer 2- put the right cup on top of the drawer 3- put the middle cup on top to the drawer 4- put the left cup on top of the drawer 5- close the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Take the cups of utensils out of the top drawer and put two sets of utensils on napkins at one of the tables on the mk Q: immediate next step? \u003cPRED\u003eA: open the top drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open the top drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nopen the top 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":"11509211353016406640.mp4"}
+{"uid":"3647112787828601146","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the white spoon on the right side of the tissue\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the white spoon on the right side of 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","video":"3446008128085177819.mp4"}
+{"uid":"7828221718729616517","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take the cups of utensils out of the top drawer and put two sets of utensils on napkins at one of the tables on the mk. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- pull the drawer 2- put the right cup on top of the drawer 3- put the middle cup on top to the drawer 4- put the left cup on top of the drawer 5- close the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take the cups of utensils out of the top drawer and put two sets of utensils on napkins at one of the tables on the mk. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: pull the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pull the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pull the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Take the cups of utensils out of the top drawer and put two sets of utensils on napkins at one of the tables on the mk Q: immediate next step? \u003cPRED\u003eA: pull the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npull 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\npull 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":"1796060988659123720.mp4"}
+{"uid":"16532637202777186810","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":"10829274512647293507.mp4"}
+{"uid":"11867562437416081241","text":"\u003ctask:success:discrete:True\u003e\nput the tissue on the right side of the bench Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\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 on the right side of the bench\n\u003c/PRED\u003e","video":"11427648472988105102.mp4"}
+{"uid":"12589887163642464266","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":"6917733777356451863.mp4"}
+{"uid":"4670866952947966993","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the tissue on the right side of the bench\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the tissue on the right side of the bench Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\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 cups of utensils out of the top drawer and put two sets of utensils on napkins at one of the tables on the mk. last 20 steps: 1- open the top drawer 2- put the right cup on top of the drawer 3- put the middle cup on top to the drawer 4- put the left cup on top of the drawer 5- close the drawer 6- put tissue on the left side of the table Q: immediate next step? \u003cPRED\u003eA: put the tissue on the right side of the bench\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Take the cups of utensils out of the top drawer and put two sets of utensils on napkins at one of the tables on the mk Q: immediate next step? \u003cPRED\u003eA: put the tissue on the right side of the bench\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take the cups of utensils out of the top drawer and put two sets of utensils on napkins at one of the tables on the mk. last 20 steps: 1- open the top drawer 2- put the right cup on top of the drawer 3- put the middle cup on top to the drawer 4- put the left cup on top of the drawer 5- close the drawer 6- put tissue on the left side of the table Q: next 5 steps? \u003cPRED\u003eA: 1- put the tissue on the right side of the bench 2- place the fork on top of right tissue 3- place the fork on top of left tissue 4- place the spoon on top of the left tissue 5- place the spoon on top of right tissue\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the tissue on the right side of the bench Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\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 on the right side of the bench\n\u003c/PRED\u003e","video":"11900039606342639463.mp4"}
+{"uid":"1429997206696963160","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput red 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":"13280162343651511297.mp4"}
+{"uid":"15976031772497530316","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the white spoon on the right side of 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the white spoon on the right side of the tissue\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take the cups of utensils out of the top drawer and put two sets of utensils on napkins at one of the tables on the mk. last 20 steps: 1- open the top drawer 2- put the right cup on top of the drawer 3- put the middle cup on top to the drawer 4- put the left cup on top of the drawer 5- close the drawer 6- put tissue on the left side of the table 7- put tissue on the right side of the table 8- place the fork on top of right tissue 9- place the fork on top of left tissue 10- place the spoon on top of the left tissue Q: next 5 steps? \u003cPRED\u003eA: 1- put the white spoon on the right side of the tissue 2- place the knife on top of right tissue 3- place the knife on top of left  tissue 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take the cups of utensils out of the top drawer and put two sets of utensils on napkins at one of the tables on the mk. last 20 steps: 1- open the top drawer 2- put the right cup on top of the drawer 3- put the middle cup on top to the drawer 4- put the left cup on top of the drawer 5- close the drawer 6- put tissue on the left side of the table 7- put tissue on the right side of the table 8- place the fork on top of right tissue 9- place the fork on top of left tissue 10- place the spoon on top of the left tissue Q: immediate next step? \u003cPRED\u003eA: put the white spoon on the right side of the tissue\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the white spoon on the right side of 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the white spoon on the right side of the tissue\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Take the cups of utensils out of the top drawer and put two sets of utensils on napkins at one of the tables on the mk Q: immediate next step? \u003cPRED\u003eA: put the white spoon on the right side of the tissue\n\u003c/PRED\u003e","video":"9111675422572748919.mp4"}
+{"uid":"179057437150730596","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":"5161422502733882175.mp4"}
+{"uid":"14879370603511519955","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the white knife on the right side of the tissue\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the white knife on the right side of 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","video":"13127223990771710786.mp4"}
+{"uid":"14597341304045431802","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut a plastic knife 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put a plastic knife on the tissue\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Take the cups of utensils out of the top drawer and put two sets of utensils on napkins at one of the tables on the mk Q: immediate next step? \u003cPRED\u003eA: Put a plastic knife on the tissue\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take the cups of utensils out of the top drawer and put two sets of utensils on napkins at one of the tables on the mk. last 20 steps: 1- open the top drawer 2- put the right cup on top of the drawer 3- put the middle cup on top to the drawer 4- put the left cup on top of the drawer 5- close the drawer 6- put tissue on the left side of the table 7- put tissue on the right side of the table 8- place the fork on top of right tissue 9- place the fork on top of left tissue 10- place the spoon on top of the left tissue 11- place the spoon on top of right tissue 12- place the knife on top of right tissue Q: immediate next step? \u003cPRED\u003eA: Put a plastic knife on the tissue\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take the cups of utensils out of the top drawer and put two sets of utensils on napkins at one of the tables on the mk. last 20 steps: 1- open the top drawer 2- put the right cup on top of the drawer 3- put the middle cup on top to the drawer 4- put the left cup on top of the drawer 5- close the drawer 6- put tissue on the left side of the table 7- put tissue on the right side of the table 8- place the fork on top of right tissue 9- place the fork on top of left tissue 10- place the spoon on top of the left tissue 11- place the spoon on top of right tissue 12- place the knife on top of right tissue Q: next 5 steps? \u003cPRED\u003eA: 1- Put a plastic knife on the tissue 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put a plastic knife on the tissue\n\u003c/PRED\u003e","video":"16211214633860528406.mp4"}
+{"uid":"16581068555753964172","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pink 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":"11208531948394872.mp4"}
+{"uid":"12087223977718700705","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":"16751399904223384649.mp4"}
+{"uid":"11355550033536888959","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":"6297487624708647259.mp4"}
+{"uid":"10413224236730551103","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove the cardboard box off 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":"17601832822132950407.mp4"}
+{"uid":"7761265567211852572","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Take the cups of utensils out of the top drawer and put two sets of utensils on napkins at one of the tables on the mk Q: immediate next step? \u003cPRED\u003eA: place the glass above the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take the cups of utensils out of the top drawer and put two sets of utensils on napkins at one of the tables on the mk. last 20 steps: 1- open the top drawer 2- put the right cup on top of the drawer 3- put the middle cup on top to the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- place the glass above the drawer 2- put tissue on the left side of the table 3- put tissue on the right side of the table 4- place the fork on top of right tissue 5- place the fork on top of left tissue\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the glass above 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: Take the cups of utensils out of the top drawer and put two sets of utensils on napkins at one of the tables on the mk. last 20 steps: 1- open the top drawer 2- put the right cup on top of the drawer 3- put the middle cup on top to the drawer Q: immediate next step? \u003cPRED\u003eA: place the glass above the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the glass above the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the glass above the drawer\n\u003c/PRED\u003e","video":"18438706683124775090.mp4"}
+{"uid":"3397934406938575064","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":"12206014668356631107.mp4"}
+{"uid":"4826903966219441702","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nClose the right cupboard 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":"5254727463881286510.mp4"}
+{"uid":"10447976883222024657","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take the cups of utensils out of the top drawer and put two sets of utensils on napkins at one of the tables on the mk. last 20 steps: 1- open the top drawer 2- put the right cup on top of the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- place the glass above the drawer 2- close the drawer 3- put tissue on the left side of the table 4- put tissue on the right side of the table 5- place the fork on top of right tissue\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take the cups of utensils out of the top drawer and put two sets of utensils on napkins at one of the tables on the mk. last 20 steps: 1- open the top drawer 2- put the right cup on top of the drawer Q: immediate next step? \u003cPRED\u003eA: place the glass above the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the glass above 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: place the glass above the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Take the cups of utensils out of the top drawer and put two sets of utensils on napkins at one of the tables on the mk Q: immediate next step? \u003cPRED\u003eA: place the glass above the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the glass above the drawer\n\u003c/PRED\u003e","video":"3316884670961836038.mp4"}
+{"uid":"9756075881031594369","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the spoon on top of right 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: Take the cups of utensils out of the top drawer and put two sets of utensils on napkins at one of the tables on the mk. last 20 steps: 1- open the top drawer 2- put the right cup on top of the drawer 3- put the middle cup on top to the drawer 4- put the left cup on top of the drawer 5- close the drawer 6- put tissue on the left side of the table 7- put tissue on the right side of the table 8- place the fork on top of right tissue 9- place the fork on top of left tissue 10- place the spoon on top of the left tissue Q: next 5 steps? \u003cPRED\u003eA: 1- place the spoon on top of right tissue 2- place the knife on top of right tissue 3- place the knife on top of left  tissue 4- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the spoon on top of right 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the spoon on top of right tissue\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take the cups of utensils out of the top drawer and put two sets of utensils on napkins at one of the tables on the mk. last 20 steps: 1- open the top drawer 2- put the right cup on top of the drawer 3- put the middle cup on top to the drawer 4- put the left cup on top of the drawer 5- close the drawer 6- put tissue on the left side of the table 7- put tissue on the right side of the table 8- place the fork on top of right tissue 9- place the fork on top of left tissue 10- place the spoon on top of the left tissue Q: immediate next step? \u003cPRED\u003eA: place the spoon on top of right tissue\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the spoon on top of right tissue\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Take the cups of utensils out of the top drawer and put two sets of utensils on napkins at one of the tables on the mk Q: immediate next step? \u003cPRED\u003eA: place the spoon on top of right tissue\n\u003c/PRED\u003e","video":"2497625807216045090.mp4"}
+{"uid":"8412852089396089848","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put tissue on the right side of the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput tissue on the right side of 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":"7871004972313570157.mp4"}
+{"uid":"664919880520641037","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the knife on top of left  tissue\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Take the cups of utensils out of the top drawer and put two sets of utensils on napkins at one of the tables on the mk Q: immediate next step? \u003cPRED\u003eA: place the knife on top of left  tissue\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the knife on top of left  tissue\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the knife on top of right tissue\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take the cups of utensils out of the top drawer and put two sets of utensils on napkins at one of the tables on the mk. last 20 steps: 1- open the top drawer 2- put the right cup on top of the drawer 3- put the middle cup on top to the drawer 4- put the left cup on top of the drawer 5- close the drawer 6- put tissue on the left side of the table 7- put tissue on the right side of the table 8- place the fork on top of right tissue 9- place the fork on top of left tissue 10- place the spoon on top of the left tissue 11- place the spoon on top of right tissue 12- place the knife on top of right tissue Q: immediate next step? \u003cPRED\u003eA: place the knife on top of left  tissue\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the knife on top of left  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:affordance:discriminative:discrete:True\u003e\nplace the knife on top of left  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: Take the cups of utensils out of the top drawer and put two sets of utensils on napkins at one of the tables on the mk. last 20 steps: 1- open the top drawer 2- put the right cup on top of the drawer 3- put the middle cup on top to the drawer 4- put the left cup on top of the drawer 5- close the drawer 6- put tissue on the left side of the table 7- put tissue on the right side of the table 8- place the fork on top of right tissue 9- place the fork on top of left tissue 10- place the spoon on top of the left tissue 11- place the spoon on top of right tissue 12- place the knife on top of right tissue Q: next 5 steps? \u003cPRED\u003eA: 1- place the knife on top of left  tissue 2- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the knife on top of right 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","video":"13945144890488387184.mp4"}
+{"uid":"3445269056772448561","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the 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":"15237547222513195366.mp4"}
+{"uid":"6869230011020860882","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take the cups of utensils out of the top drawer and put two sets of utensils on napkins at one of the tables on the mk. last 20 steps: 1- open the top drawer 2- put the right cup on top of the drawer 3- put the middle cup on top to the drawer 4- put the left cup on top of the drawer 5- close the drawer 6- put tissue on the left side of the table 7- put tissue on the right side of the table 8- place the fork on top of right tissue 9- place the fork on top of left tissue 10- place the spoon on top of the left tissue 11- place the spoon on top of right tissue 12- Put a plastic knife on the tissue 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 plastic knife on the tissue\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut a plastic knife 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:planning:freeform\u003e\ncurrent goal is: Take the cups of utensils out of the top drawer and put two sets of utensils on napkins at one of the tables on the mk Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take the cups of utensils out of the top drawer and put two sets of utensils on napkins at one of the tables on the mk. last 20 steps: 1- open the top drawer 2- put the right cup on top of the drawer 3- put the middle cup on top to the drawer 4- put the left cup on top of the drawer 5- close the drawer 6- put tissue on the left side of the table 7- put tissue on the right side of the table 8- place the fork on top of right tissue 9- place the fork on top of left tissue 10- place the spoon on top of the left tissue 11- place the spoon on top of right tissue 12- Put a plastic knife on the tissue Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"5297592956761951420.mp4"}
+{"uid":"17756948965993472892","text":"\u003ctask:success:discrete:False\u003e\nplace the knife on top of right 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 the knife on top of right tissue\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the knife on top of right 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: Take the cups of utensils out of the top drawer and put two sets of utensils on napkins at one of the tables on the mk. last 20 steps: 1- open the top drawer 2- put the right cup on top of the drawer 3- put the middle cup on top to the drawer 4- put the left cup on top of the drawer 5- close the drawer 6- put tissue on the left side of the table 7- put tissue on the right side of the table 8- place the fork on top of right tissue 9- place the fork on top of left tissue 10- place the spoon on top of the left tissue 11- place the spoon on top of right tissue Q: immediate next step? \u003cPRED\u003eA: place the knife on top of right tissue\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take the cups of utensils out of the top drawer and put two sets of utensils on napkins at one of the tables on the mk. last 20 steps: 1- open the top drawer 2- put the right cup on top of the drawer 3- put the middle cup on top to the drawer 4- put the left cup on top of the drawer 5- close the drawer 6- put tissue on the left side of the table 7- put tissue on the right side of the table 8- place the fork on top of right tissue 9- place the fork on top of left tissue 10- place the spoon on top of the left tissue 11- place the spoon on top of right tissue Q: next 5 steps? \u003cPRED\u003eA: 1- place the knife on top of right tissue 2- place the knife on top of left  tissue 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Take the cups of utensils out of the top drawer and put two sets of utensils on napkins at one of the tables on the mk Q: immediate next step? \u003cPRED\u003eA: place the knife on top of right tissue\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the knife on top of right tissue\n\u003c/PRED\u003e","video":"11186067437103391788.mp4"}
+{"uid":"13244212126481239819","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":"13414815679139094339.mp4"}
+{"uid":"10943329917940678907","text":"\u003ctask:success:discrete:True\u003e\nPut a plastic 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 a plastic spoon on the tissue\n\u003c/PRED\u003e","video":"14840223230716970721.mp4"}
+{"uid":"9246741491121647882","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the white pork on the left side of the tissue\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the white pork on the left side of 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","video":"2305682540048804852.mp4"}
+{"uid":"8214951819978151186","text":"\u003ctask:success:discrete:False\u003e\nput the right cup on top of 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 the right cup on top of the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take the cups of utensils out of the top drawer and put two sets of utensils on napkins at one of the tables on the mk. last 20 steps: 1- open the top drawer Q: next 5 steps? \u003cPRED\u003eA: 1- put the right cup on top of the drawer 2- put the middle cup on top to the drawer 3- put the left cup on top of the drawer 4- close the drawer 5- put tissue on the left side of the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the right cup on top of 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: Take the cups of utensils out of the top drawer and put two sets of utensils on napkins at one of the tables on the mk. last 20 steps: 1- open the top drawer Q: immediate next step? \u003cPRED\u003eA: put the right cup on top of the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Take the cups of utensils out of the top drawer and put two sets of utensils on napkins at one of the tables on the mk Q: immediate next step? \u003cPRED\u003eA: put the right cup on top of the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the right cup on top of the drawer\n\u003c/PRED\u003e","video":"9430934121852493624.mp4"}
+{"uid":"3277983573898894174","text":"\u003ctask:success:discrete:True\u003e\nPut a plastic 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 a plastic spoon on the tissue\n\u003c/PRED\u003e","video":"8734481174056282136.mp4"}
+{"uid":"10811255767434429560","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":"1665509094580184136.mp4"}
+{"uid":"12654719548926563323","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put tissue on the left side of the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take the cups of utensils out of the top drawer and put two sets of utensils on napkins at one of the tables on the mk. last 20 steps: 1- open the top drawer 2- put the right cup on top of the drawer 3- put the middle cup on top to the drawer 4- put the left cup on top of the drawer 5- close the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- put tissue on the left side of the table 2- put tissue on the right side of the table 3- place the fork on top of right tissue 4- place the fork on top of left tissue 5- place the spoon on top of the left tissue\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Take the cups of utensils out of the top drawer and put two sets of utensils on napkins at one of the tables on the mk Q: immediate next step? \u003cPRED\u003eA: put tissue on the left side of the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput tissue on 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put tissue on the left side of the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take the cups of utensils out of the top drawer and put two sets of utensils on napkins at one of the tables on the mk. last 20 steps: 1- open the top drawer 2- put the right cup on top of the drawer 3- put the middle cup on top to the drawer 4- put the left cup on top of the drawer 5- close the drawer Q: immediate next step? \u003cPRED\u003eA: put tissue on the left side of the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput tissue on 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","video":"11822661952757726349.mp4"}
+{"uid":"15847940343920696716","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Take the cups of utensils out of the top drawer and put two sets of utensils on napkins at one of the tables on the mk Q: immediate next step? \u003cPRED\u003eA: put the cup on the bench\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take the cups of utensils out of the top drawer and put two sets of utensils on napkins at one of the tables on the mk. last 20 steps: 1- open the top drawer Q: immediate next step? \u003cPRED\u003eA: put the cup on the bench\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the cup on the bench\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take the cups of utensils out of the top drawer and put two sets of utensils on napkins at one of the tables on the mk. last 20 steps: 1- open the top drawer Q: next 5 steps? \u003cPRED\u003eA: 1- put the cup on the bench 2- put the middle cup on top to the drawer 3- put the left cup on top of the drawer 4- close the drawer 5- put tissue on the left side of the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the cup on the bench Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED: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 cup on the bench\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the cup on the bench Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11202979476333302692.mp4"}
+{"uid":"11464518084027180705","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the tissue on the left side of the bench\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the tissue on the left side of the bench Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8467387211740480666.mp4"}
+{"uid":"3697668542062816480","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 the cups of utensils out of the top drawer and put two sets of utensils on napkins at one of the tables on the mk 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\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: Take the cups of utensils out of the top drawer and put two sets of utensils on napkins at one of the tables on the mk. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Open the drawer 2- put the right cup on top of the drawer 3- put the middle cup on top to the drawer 4- put the left cup on top of the drawer 5- close the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take the cups of utensils out of the top drawer and put two sets of utensils on napkins at one of the tables on the mk. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Open the drawer\n\u003c/PRED\u003e","video":"2463791746303776892.mp4"}
+{"uid":"12037299770696005567","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take the cups of utensils out of the top drawer and put two sets of utensils on napkins at one of the tables on the mk. last 20 steps: 1- open the top drawer 2- put the right cup on top of the drawer 3- put the middle cup on top to the drawer 4- put the left cup on top of the drawer 5- close the drawer 6- put tissue on the left side of the table Q: next 5 steps? \u003cPRED\u003eA: 1- put tissue on the right side of the table 2- place the fork on top of right tissue 3- place the fork on top of left tissue 4- place the spoon on top of the left tissue 5- place the spoon on top of right tissue\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Take the cups of utensils out of the top drawer and put two sets of utensils on napkins at one of the tables on the mk Q: immediate next step? \u003cPRED\u003eA: put tissue on the right side of the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput tissue on the right 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put tissue on the right side of the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take the cups of utensils out of the top drawer and put two sets of utensils on napkins at one of the tables on the mk. last 20 steps: 1- open the top drawer 2- put the right cup on top of the drawer 3- put the middle cup on top to the drawer 4- put the left cup on top of the drawer 5- close the drawer 6- put tissue on the left side of the table Q: immediate next step? \u003cPRED\u003eA: put tissue on the right side of the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put tissue on the right side of the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput tissue on the right 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":"15003506275653154406.mp4"}
+{"uid":"8782667050341635903","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":"16960976954223413525.mp4"}
+{"uid":"9155601514968479339","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the white spoon on the left side of the tissue\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take the cups of utensils out of the top drawer and put two sets of utensils on napkins at one of the tables on the mk. last 20 steps: 1- open the top drawer 2- put the right cup on top of the drawer 3- put the middle cup on top to the drawer 4- put the left cup on top of the drawer 5- close the drawer 6- put tissue on the left side of the table 7- put tissue on the right side of the table 8- place the fork on top of right tissue 9- place the fork on top of left tissue Q: next 5 steps? \u003cPRED\u003eA: 1- put the white spoon on the left side of the tissue 2- place the spoon on top of right tissue 3- place the knife on top of right tissue 4- place the knife on top of left  tissue 5- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Take the cups of utensils out of the top drawer and put two sets of utensils on napkins at one of the tables on the mk Q: immediate next step? \u003cPRED\u003eA: put the white spoon on the left side of the tissue\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the white spoon on the left side of the tissue\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the white spoon on the left side of 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take the cups of utensils out of the top drawer and put two sets of utensils on napkins at one of the tables on the mk. last 20 steps: 1- open the top drawer 2- put the right cup on top of the drawer 3- put the middle cup on top to the drawer 4- put the left cup on top of the drawer 5- close the drawer 6- put tissue on the left side of the table 7- put tissue on the right side of the table 8- place the fork on top of right tissue 9- place the fork on top of left tissue Q: immediate next step? \u003cPRED\u003eA: put the white spoon on the left side of the tissue\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the white spoon on the left side of 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","video":"84088185515133464.mp4"}
+{"uid":"9374767239281678693","text":"\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 the cups of utensils out of the top drawer and put two sets of utensils on napkins at one of the tables on the mk 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: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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take the cups of utensils out of the top drawer and put two sets of utensils on napkins at one of the tables on the mk. last 20 steps: 1- open the top drawer 2- put the right cup on top of the drawer 3- put the middle cup on top to the drawer 4- put the left cup on top of the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- close the drawer 2- put tissue on the left side of the table 3- put tissue on the right side of the table 4- place the fork on top of right tissue 5- place the fork on top of left tissue\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take the cups of utensils out of the top drawer and put two sets of utensils on napkins at one of the tables on the mk. last 20 steps: 1- open the top drawer 2- put the right cup on top of the drawer 3- put the middle cup on top to the drawer 4- put the left cup on top of the drawer 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","video":"16964935697202587303.mp4"}
+{"uid":"8073067386836282350","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the indoor plant from the floor\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the indoor plant 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 indoor plant 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 indoor plant from the floor\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: make a diagonal line with the plants. last 20 steps: 1- Move to the table 2- Push the third indoor plant slightly to the left 3- Move the top plant to the right 4- go away from the top indoor plant 5- Move to the plant on the floor Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the indoor plant from the floor 2- Go to the table 3- Place the plant on the table 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: make a diagonal line with the plants. last 20 steps: 1- Move to the table 2- Push the third indoor plant slightly to the left 3- Move the top plant to the right 4- go away from the top indoor plant 5- Move to the plant on the floor Q: immediate next step? \u003cPRED\u003eA: Pick up the indoor plant from the floor\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: make a diagonal line with the plants. Q: immediate next step? \u003cPRED\u003eA: Pick up the indoor plant from the floor\n\u003c/PRED\u003e","video":"18373521427676005634.mp4"}
+{"uid":"12326974682266186015","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the yellow 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":"16865080283407803185.mp4"}
+{"uid":"3681430489063490702","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: make a diagonal line with the plants. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: make a diagonal line with the plants. last 20 steps: 1- Move to the table 2- Push the third indoor plant slightly to the left 3- Move the top plant to the right 4- go away from the top indoor plant 5- Move to the plant on the floor 6- Pick the plant on the floor 7- Go to the table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: make a diagonal line with the plants. last 20 steps: 1- Move to the table 2- Push the third indoor plant slightly to the left 3- Move the top plant to the right 4- go away from the top indoor plant 5- Move to the plant on the floor 6- Pick the plant on the floor 7- Go to the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Go to the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nGo 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","video":"11805896525276822704.mp4"}
+{"uid":"3213087810815755201","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: make a diagonal line with the plants. last 20 steps: 1- Move to the table 2- Push the third indoor plant slightly to the left 3- Move the top plant to the right 4- go away from the top indoor plant 5- Move to the plant on the floor 6- Pick the plant on the floor 7- Move your arm upwards 8- Place it on the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace it 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: make a diagonal line with the plants. last 20 steps: 1- Move to the table 2- Push the third indoor plant slightly to the left 3- Move the top plant to the right 4- go away from the top indoor plant 5- Move to the plant on the floor 6- Pick the plant on the floor 7- Move your arm upwards 8- Place it on the table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: make a diagonal line with the plants. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place it on the table\n\u003c/PRED\u003e","video":"13046143764150620700.mp4"}
+{"uid":"3275925862351870240","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: make a diagonal line with the plants. last 20 steps: 1- Move to the table 2- Push the third indoor plant slightly to the left 3- Move the top plant to the right 4- go away from the top indoor plant 5- Move to the plant on the floor 6- Pick the plant on the floor 7- Move your arm upwards 8- place the indoor plant on the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the indoor plant 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: make a diagonal line with the plants. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: make a diagonal line with the plants. last 20 steps: 1- Move to the table 2- Push the third indoor plant slightly to the left 3- Move the top plant to the right 4- go away from the top indoor plant 5- Move to the plant on the floor 6- Pick the plant on the floor 7- Move your arm upwards 8- place the indoor plant 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 indoor plant on the table\n\u003c/PRED\u003e","video":"16435161045298057522.mp4"}
+{"uid":"14252548235696994274","text":"\u003ctask:success:discrete:True\u003e\nMove closer to the plant Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\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 closer to the plant\n\u003c/PRED\u003e","video":"3427262900300742376.mp4"}
+{"uid":"5145095364761561241","text":"\u003ctask:success:discrete:True\u003e\nPick the plant 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: Pick the plant on the floor\n\u003c/PRED\u003e","video":"6146795184826658988.mp4"}
+{"uid":"11969413732819707192","text":"\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: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: make a diagonal line with the plants. last 20 steps: 1- Move to the table 2- Push the third indoor plant slightly to the left 3- Move the top plant to the right 4- go away from the top indoor plant 5- Move to the plant 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: make a diagonal line with the plants. last 20 steps: 1- Move to the table 2- Push the third indoor plant slightly to the left 3- Move the top plant to the right 4- go away from the top indoor plant 5- Move to the plant on the floor Q: next 5 steps? \u003cPRED\u003eA: 1- Move your arm upwards 2- Place the plant on the table 3- done\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: make a diagonal line with the plants. Q: immediate next step? \u003cPRED\u003eA: Move your arm upwards\n\u003c/PRED\u003e","video":"8616985975106288382.mp4"}
+{"uid":"9141754480181315516","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: make a diagonal line with the plants. Q: immediate next step? \u003cPRED\u003eA: Take it to the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nTake it 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: Take it to the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: make a diagonal line with the plants. last 20 steps: 1- Move to the table 2- Push the third indoor plant slightly to the left 3- Move the top plant to the right 4- go away from the top indoor plant 5- Move to the plant on the floor 6- Pick the plant on the floor Q: next 5 steps? \u003cPRED\u003eA: 1- Take it to the table 2- Place the plant on the table 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Take it to the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nTake it 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: make a diagonal line with the plants. last 20 steps: 1- Move to the table 2- Push the third indoor plant slightly to the left 3- Move the top plant to the right 4- go away from the top indoor plant 5- Move to the plant on the floor 6- Pick the plant on the floor Q: immediate next step? \u003cPRED\u003eA: Take it to the table\n\u003c/PRED\u003e","video":"14015585172352914974.mp4"}
+{"uid":"6038885569486750370","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: make a diagonal line with the plants. Q: immediate next step? \u003cPRED\u003eA: push the top indoor plant to the right a bit\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npush the top indoor plant to the right a bit Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\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 top indoor plant to the right a bit Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED: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 top indoor plant to the right a bit\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: make a diagonal line with the plants. last 20 steps: 1- Move to the table 2- Push the third indoor plant slightly to the left Q: immediate next step? \u003cPRED\u003eA: push the top indoor plant to the right a bit\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: push the top indoor plant to the right a bit\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: make a diagonal line with the plants. last 20 steps: 1- Move to the table 2- Push the third indoor plant slightly to the left Q: next 5 steps? \u003cPRED\u003eA: 1- push the top indoor plant to the right a bit 2- go away from the top indoor plant 3- Move to the plant on the floor 4- Pick the plant on the floor 5- Move your arm upwards\n\u003c/PRED\u003e","video":"12351500027485720407.mp4"}
+{"uid":"621749361511430868","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nwrite 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\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the toy carrot on the table. Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8239151125682240715.mp4"}
+{"uid":"15975064336353699165","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: make a diagonal line with the plants. last 20 steps: 1- Move to the table Q: next 5 steps? \u003cPRED\u003eA: 1- Move the top plant to the right 2- Move to the plant on the floor 3- Pick the plant on the floor 4- Move your arm upwards 5- Go to the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: make a diagonal line with the plants. last 20 steps: 1- Move to the table Q: immediate next step? \u003cPRED\u003eA: Move the top plant to the right\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move the top plant to the right\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove the top plant 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move the top plant to the right\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: make a diagonal line with the plants. Q: immediate next step? \u003cPRED\u003eA: Move the top plant to the right\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove the top plant 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","video":"3571402354690146367.mp4"}
+{"uid":"14220394726562050068","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","video":"175292392099142104.mp4"}
+{"uid":"14276030901158822343","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nMove to the plant 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: make a diagonal line with the plants. Q: immediate next step? \u003cPRED\u003eA: Move to the plant 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 plant on the floor\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move to the plant on the floor\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove to the plant 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: make a diagonal line with the plants. last 20 steps: 1- Move to the table 2- Push the third indoor plant slightly to the left 3- Move the top plant to the right 4- go away from the top indoor plant Q: next 5 steps? \u003cPRED\u003eA: 1- Move to the plant on the floor 2- Move your arm upwards 3- Go to the table 4- Place the plant on the table 5- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: make a diagonal line with the plants. last 20 steps: 1- Move to the table 2- Push the third indoor plant slightly to the left 3- Move the top plant to the right 4- go away from the top indoor plant Q: immediate next step? \u003cPRED\u003eA: Move to the plant on the floor\n\u003c/PRED\u003e","video":"14914937824293104510.mp4"}
+{"uid":"6570748913631644323","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput pink 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":"5759484890152336349.mp4"}
+{"uid":"5454180821206625458","text":"\u003ctask:success:discrete:True\u003e\nGo 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: Go to the floor\n\u003c/PRED\u003e","video":"11769874472894268641.mp4"}
+{"uid":"18249386943562618237","text":"\u003ctask:success:discrete:True\u003e\nMove to the plant 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 plant on the floor\n\u003c/PRED\u003e","video":"10827511681409952963.mp4"}
+{"uid":"3315049518707464306","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the smart 50 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":"17284080402472884804.mp4"}
+{"uid":"8591339308059909753","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: go to the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ngo 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","video":"8144839652347280552.mp4"}
+{"uid":"9606378331045538196","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":"2681405792459797707.mp4"}
+{"uid":"7741790941262164960","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: make a diagonal line with the plants. last 20 steps: 1- Move to the table 2- Push the third indoor plant slightly to the left 3- Move the top plant to the right 4- go away from the top indoor plant Q: next 5 steps? \u003cPRED\u003eA: 1- Pick the plant on the floor 2- Go to the table 3- Place the plant on the table 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: make a diagonal line with the plants. last 20 steps: 1- Move to the table 2- Push the third indoor plant slightly to the left 3- Move the top plant to the right 4- go away from the top indoor plant Q: immediate next step? \u003cPRED\u003eA: Pick the plant on the floor\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick the plant 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\nPick the plant 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: Pick the plant on the floor\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick the plant on the floor\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: make a diagonal line with the plants. Q: immediate next step? \u003cPRED\u003eA: Pick the plant on the floor\n\u003c/PRED\u003e","video":"8602595769702369670.mp4"}
+{"uid":"1928768453500958877","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick 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":"17837603087350266234.mp4"}
+{"uid":"15183030211038239402","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npush the blue pen tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3009446454561812684.mp4"}
+{"uid":"5592669178386112825","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: make a diagonal line with the plants. last 20 steps: 1- Move to the table 2- Push the third indoor plant slightly to the left Q: immediate next step? \u003cPRED\u003eA: Slide the top indoor plant slightly to the right\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Slide the top indoor plant slightly to the right\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: make a diagonal line with the plants. last 20 steps: 1- Move to the table 2- Push the third indoor plant slightly to the left Q: next 5 steps? \u003cPRED\u003eA: 1- Slide the top indoor plant slightly to the right 2- Move to the plant on the floor 3- Pick the plant on the floor 4- Move your arm upwards 5- Go to the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Slide the top indoor plant slightly to the right\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nSlide the top indoor plant slightly 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:affordance:discriminative:discrete:True\u003e\nSlide the top indoor plant slightly 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:planning:freeform\u003e\ncurrent goal is: make a diagonal line with the plants. Q: immediate next step? \u003cPRED\u003eA: Slide the top indoor plant slightly to the right\n\u003c/PRED\u003e","video":"3399774160487956113.mp4"}
+{"uid":"8779534102104042627","text":"\u003ctask:success:discrete:True\u003e\nPick up the indoor plant 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 indoor plant from the floor\n\u003c/PRED\u003e","video":"8578675047196854048.mp4"}
+{"uid":"9671813709856493193","text":"\u003ctask:success:discrete:False\u003e\nmove to the indoor plant 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: make a diagonal line with the plants. last 20 steps: 1- Move to the table 2- Push the third indoor plant slightly to the left 3- Move the top plant to the right 4- go away from the top indoor plant Q: next 5 steps? \u003cPRED\u003eA: 1- move to the indoor plant on the floor 2- Move your arm upwards 3- Go to the table 4- Place the plant on the table 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove to the indoor plant 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: make a diagonal line with the plants. Q: immediate next step? \u003cPRED\u003eA: move to the indoor plant on the floor\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: make a diagonal line with the plants. last 20 steps: 1- Move to the table 2- Push the third indoor plant slightly to the left 3- Move the top plant to the right 4- go away from the top indoor plant Q: immediate next step? \u003cPRED\u003eA: move to the indoor plant on the floor\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move to the indoor plant 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 indoor plant on the floor\n\u003c/PRED\u003e","video":"8049724129835961146.mp4"}
+{"uid":"2135761655231470950","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":"16118571114969551142.mp4"}
+{"uid":"5862514401640480369","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the rold gold 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":"1769930102210027532.mp4"}
+{"uid":"12608026017253802190","text":"\u003ctask:success:discrete:False\u003e\nMove your arm away from the indoor plants 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: make a diagonal line with the plants. last 20 steps: 1- Move to the table 2- Push the third indoor plant slightly to the left 3- Move the top plant to the right Q: immediate next step? \u003cPRED\u003eA: Move your arm away from the indoor plants on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move your arm away from the indoor plants on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove your arm away from the indoor plants on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: make a diagonal line with the plants. Q: immediate next step? \u003cPRED\u003eA: Move your arm away from the indoor plants on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move your arm away from the indoor plants on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: make a diagonal line with the plants. last 20 steps: 1- Move to the table 2- Push the third indoor plant slightly to the left 3- Move the top plant to the right Q: next 5 steps? \u003cPRED\u003eA: 1- Move your arm away from the indoor plants on the table 2- Move to the plant on the floor 3- Pick the plant on the floor 4- Move your arm upwards 5- Go to the table\n\u003c/PRED\u003e","video":"1951432791394416010.mp4"}
+{"uid":"2250367227887961814","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":"4410203407870893006.mp4"}
+{"uid":"4661811063156720913","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Move your arm towards the indoor plant on the floor\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nMove your arm towards the indoor plant 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":"10242381403702505352.mp4"}
+{"uid":"16212635236021097582","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick the indoor plant from the floor\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick the indoor plant 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":"5423289918720628270.mp4"}
+{"uid":"14432729350224645442","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: push the top indoor plant to the right a bit\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npush the top indoor plant to the right a bit Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1883159775404722901.mp4"}
+{"uid":"3345057548301369381","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace a 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":"13559754008935631443.mp4"}
+{"uid":"9423856207218294714","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move to the indoor plant on the floor\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nmove to the indoor plant 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":"2635161651181165829.mp4"}
+{"uid":"18380350941723136259","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: make a diagonal line with the plants. last 20 steps: 1- Move to the table 2- Push the third indoor plant slightly to the left 3- Move the top plant to the right 4- go away from the top indoor plant 5- Move to the plant on the floor 6- Pick the plant on the floor 7- Move your arm upwards Q: next 5 steps? \u003cPRED\u003eA: 1- Place the indoor plant on the bottom of the table 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: make a diagonal line with the plants. last 20 steps: 1- Move to the table 2- Push the third indoor plant slightly to the left 3- Move the top plant to the right 4- go away from the top indoor plant 5- Move to the plant on the floor 6- Pick the plant on the floor 7- Move your arm upwards Q: immediate next step? \u003cPRED\u003eA: Place the indoor plant on the bottom of the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the indoor plant on the bottom of the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the indoor plant on the bottom 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: make a diagonal line with the plants. Q: immediate next step? \u003cPRED\u003eA: Place the indoor plant on the bottom of the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the indoor plant on the bottom of the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the indoor plant on the bottom 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","video":"14581931314894774440.mp4"}
+{"uid":"6907664058525308075","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick it up\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick it 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: Pick it up\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: make a diagonal line with the plants. Q: immediate next step? \u003cPRED\u003eA: Pick it up\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: make a diagonal line with the plants. last 20 steps: 1- Move to the table 2- Push the third indoor plant slightly to the left 3- Move the top plant to the right 4- go away from the top indoor plant 5- Move to the plant on the floor Q: immediate next step? \u003cPRED\u003eA: Pick it up\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: make a diagonal line with the plants. last 20 steps: 1- Move to the table 2- Push the third indoor plant slightly to the left 3- Move the top plant to the right 4- go away from the top indoor plant 5- Move to the plant on the floor Q: next 5 steps? \u003cPRED\u003eA: 1- Pick it up 2- Go to the table 3- Place the plant on the table 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick it 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","video":"8315730399907398481.mp4"}
+{"uid":"9677026542439834804","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nMove the bottom second plant 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:success:discrete:False\u003e\nMove the bottom second plant 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:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move the bottom second plant to the left\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: make a diagonal line with the plants. last 20 steps: 1- Move to the table Q: immediate next step? \u003cPRED\u003eA: Move the bottom second plant to the left\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: make a diagonal line with the plants. Q: immediate next step? \u003cPRED\u003eA: Move the bottom second plant to the left\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move the bottom second plant to the left\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: make a diagonal line with the plants. last 20 steps: 1- Move to the table Q: next 5 steps? \u003cPRED\u003eA: 1- Move the bottom second plant to the left 2- Move the top plant to the right 3- go away from the top indoor plant 4- Move to the plant on the floor 5- Pick the plant on the floor\n\u003c/PRED\u003e","video":"5561955514802702310.mp4"}
+{"uid":"5218307752122624712","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut 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":"10643651277741102084.mp4"}
+{"uid":"7777648068168042985","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Push the third indoor plant slightly to the left\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPush the third indoor plant slightly 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","video":"13448894825017009908.mp4"}
+{"uid":"10965831750183605077","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\ngo 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: go to the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: make a diagonal line with the plants. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: go to the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: go to the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: make a diagonal line with the plants. Q: immediate next step? \u003cPRED\u003eA: go to the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: make a diagonal line with the plants. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- go to the table 2- Move the top plant to the right 3- go away from the top indoor plant 4- Move to the plant on the floor 5- Pick the plant on the floor\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ngo 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","video":"9180670435806076124.mp4"}
+{"uid":"9764507465326190719","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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: make a diagonal line with the plants. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Move to the table 2- Move the top plant to the right 3- go away from the top indoor plant 4- Move to the plant on the floor 5- Pick the plant on the floor\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: make a diagonal line with the plants. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Go to the table\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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move to the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Go to the table\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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: make a diagonal line with the plants. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Go to the table 2- Move the top plant to the right 3- go away from the top indoor plant 4- Move to the plant on the floor 5- Pick the plant on the floor\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Go to the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: make a diagonal line with the plants. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Move to the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: make a diagonal line with the plants. Q: immediate next step? \u003cPRED\u003eA: Go to the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nGo 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: make a diagonal line with the plants. Q: immediate next step? \u003cPRED\u003eA: Move to the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nGo 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","video":"1169004023448864051.mp4"}
+{"uid":"1679771238900644048","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: make a diagonal line with the plants. last 20 steps: 1- Move to the table Q: immediate next step? \u003cPRED\u003eA: Move the bottom second plant to left a bit\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove the bottom second plant to left a bit Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\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: make a diagonal line with the plants. Q: immediate next step? \u003cPRED\u003eA: Move the bottom second plant to left a bit\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move the bottom second plant to left a bit\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move the bottom second plant to left a bit\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: make a diagonal line with the plants. last 20 steps: 1- Move to the table Q: next 5 steps? \u003cPRED\u003eA: 1- Move the bottom second plant to left a bit 2- go away from the top indoor plant 3- Move to the plant on the floor 4- Pick the plant on the floor 5- Move your arm upwards\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove the bottom second plant to left a bit Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18276012923204539626.mp4"}
+{"uid":"10256697081714415754","text":"\u003ctask:success:discrete:False\u003e\nGo 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:planning:freeform\u003e\ncurrent goal is: make a diagonal line with the plants. Q: immediate next step? \u003cPRED\u003eA: Go to the floor\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Go to the floor\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Go to the floor\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: make a diagonal line with the plants. last 20 steps: 1- Move to the table 2- Push the third indoor plant slightly to the left 3- Move the top plant to the right Q: next 5 steps? \u003cPRED\u003eA: 1- Go to the floor 2- Pick the plant on the floor 3- Move your arm upwards 4- Go to the table 5- Place the plant on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nGo 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: make a diagonal line with the plants. last 20 steps: 1- Move to the table 2- Push the third indoor plant slightly to the left 3- Move the top plant to the right Q: immediate next step? \u003cPRED\u003eA: Go to the floor\n\u003c/PRED\u003e","video":"11900751123492927812.mp4"}
+{"uid":"15341718464246329633","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: make a diagonal line with the plants. last 20 steps: 1- Move to the table 2- Push the third indoor plant slightly to the left 3- Move the top plant to the right 4- go away from the top indoor plant 5- Move to the plant on the floor 6- Pick the plant on the floor Q: next 5 steps? \u003cPRED\u003eA: 1- Go to the table 2- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nGo 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:planning:freeform\u003e\ncurrent goal is: make a diagonal line with the plants. Q: immediate next step? \u003cPRED\u003eA: Go to the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Go to the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: make a diagonal line with the plants. last 20 steps: 1- Move to the table 2- Push the third indoor plant slightly to the left 3- Move the top plant to the right 4- go away from the top indoor plant 5- Move to the plant on the floor 6- Pick the plant on the floor Q: immediate next step? \u003cPRED\u003eA: Go to the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nGo 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: Go to the table\n\u003c/PRED\u003e","video":"3324539678004007536.mp4"}
+{"uid":"11750694694054487629","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nopen 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":"14181517906093054389.mp4"}
+{"uid":"1730300577395048350","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: make a diagonal line with the plants. last 20 steps: 1- Move to the table 2- Push the third indoor plant slightly to the left Q: immediate next step? \u003cPRED\u003eA: Move the top indoor plant to the right\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: make a diagonal line with the plants. Q: immediate next step? \u003cPRED\u003eA: Move the top indoor plant to the right\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove the top indoor plant 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: make a diagonal line with the plants. last 20 steps: 1- Move to the table 2- Push the third indoor plant slightly to the left Q: next 5 steps? \u003cPRED\u003eA: 1- Move the top indoor plant to the right 2- Move to the plant on the floor 3- Pick the plant on the floor 4- Move your arm upwards 5- Go to the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move the top indoor plant to the right\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove the top indoor plant 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move the top indoor plant to the right\n\u003c/PRED\u003e","video":"17304913800982135733.mp4"}
+{"uid":"1089542481288888377","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: make a diagonal line with the plants. last 20 steps: 1- Move to the table 2- Push the third indoor plant slightly to the left 3- Move the top plant to the right 4- go away from the top indoor plant 5- Move to the plant on the floor 6- Pick the plant on the floor 7- Move your arm upwards 8- Place the plant on the table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the plant 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: make a diagonal line with the plants. last 20 steps: 1- Move to the table 2- Push the third indoor plant slightly to the left 3- Move the top plant to the right 4- go away from the top indoor plant 5- Move to the plant on the floor 6- Pick the plant on the floor 7- Move your arm upwards 8- Place the plant on the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: make a diagonal line with the plants. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the plant on the table\n\u003c/PRED\u003e","video":"15535843481385220699.mp4"}
+{"uid":"495393555427283050","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut lunchbox 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":"14669037636642610491.mp4"}
+{"uid":"1462089253352593189","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: make a diagonal line with the plants. Q: immediate next step? \u003cPRED\u003eA: Push the third indoor plant slightly to the left\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Push the third indoor plant slightly to the left\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPush the third indoor plant slightly 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:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Push the third indoor plant slightly to the left\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPush the third indoor plant slightly 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: make a diagonal line with the plants. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Push the third indoor plant slightly to the left\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: make a diagonal line with the plants. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Push the third indoor plant slightly to the left 2- go away from the top indoor plant 3- Move to the plant on the floor 4- Pick the plant on the floor 5- Move your arm upwards\n\u003c/PRED\u003e","video":"5822075924555470823.mp4"}
+{"uid":"9098398857043457424","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npull the tissue out 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":"17712725994964995290.mp4"}
+{"uid":"8172337660702020017","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Slide the top indoor plant slightly to the right\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nSlide the top indoor plant slightly to 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","video":"15946042665200254935.mp4"}
+{"uid":"18414708198746094672","text":"\u003ctask:success:discrete:True\u003e\nMove the top plant to 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 the top plant to the right\n\u003c/PRED\u003e","video":"17987057847058661852.mp4"}
+{"uid":"11020872363743060804","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the indoor plant on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the indoor plant on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: make a diagonal line with the plants. Q: immediate next step? \u003cPRED\u003eA: place the indoor plant on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: make a diagonal line with the plants. last 20 steps: 1- Move to the table 2- Push the third indoor plant slightly to the left 3- Move the top plant to the right 4- go away from the top indoor plant 5- Move to the plant on the floor 6- Pick the plant on the floor 7- Move your arm upwards Q: immediate next step? \u003cPRED\u003eA: place the indoor plant on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: make a diagonal line with the plants. last 20 steps: 1- Move to the table 2- Push the third indoor plant slightly to the left 3- Move the top plant to the right 4- go away from the top indoor plant 5- Move to the plant on the floor 6- Pick the plant on the floor 7- Move your arm upwards Q: next 5 steps? \u003cPRED\u003eA: 1- place the indoor plant on the table 2- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the indoor plant 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 indoor plant on the table\n\u003c/PRED\u003e","video":"8895578137435667953.mp4"}
+{"uid":"14635777563535438857","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Move the bottom second plant to the left\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nMove the bottom second plant 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","video":"8418787926212847069.mp4"}
+{"uid":"3902345404591949063","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Move your arm away\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nMove your arm away Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10738714479960975402.mp4"}
+{"uid":"15192250994789759423","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Pick it up\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPick it up Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17388727363124648086.mp4"}
+{"uid":"13190079441806299476","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":"10156180292992620202.mp4"}
+{"uid":"3771962643756165989","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput holder inside the almirah Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8578033806147070188.mp4"}
+{"uid":"4567821062673478457","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: go away from the top indoor plant\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ngo away from the top indoor plant Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: make a diagonal line with the plants. Q: immediate next step? \u003cPRED\u003eA: go away from the top indoor plant\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: make a diagonal line with the plants. last 20 steps: 1- Move to the table 2- Push the third indoor plant slightly to the left Q: next 5 steps? \u003cPRED\u003eA: 1- go away from the top indoor plant 2- Move to the plant on the floor 3- Pick the plant on the floor 4- Move your arm upwards 5- Go to the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ngo away from the top indoor plant Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\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 away from the top indoor plant\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: make a diagonal line with the plants. last 20 steps: 1- Move to the table 2- Push the third indoor plant slightly to the left Q: immediate next step? \u003cPRED\u003eA: go away from the top indoor plant\n\u003c/PRED\u003e","video":"14921506077665031790.mp4"}
+{"uid":"6069188744771728336","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the orange 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":"9702171083239601561.mp4"}
+{"uid":"5852647907699328783","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the plant on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: make a diagonal line with the plants. last 20 steps: 1- Move to the table 2- Push the third indoor plant slightly to the left 3- Move the top plant to the right 4- go away from the top indoor plant 5- Move to the plant on the floor 6- Pick the plant on the floor 7- Move your arm upwards Q: immediate next step? \u003cPRED\u003eA: Place the plant on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the plant on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the plant 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: make a diagonal line with the plants. Q: immediate next step? \u003cPRED\u003eA: Place the plant on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: make a diagonal line with the plants. last 20 steps: 1- Move to the table 2- Push the third indoor plant slightly to the left 3- Move the top plant to the right 4- go away from the top indoor plant 5- Move to the plant on the floor 6- Pick the plant on the floor 7- Move your arm upwards Q: next 5 steps? \u003cPRED\u003eA: 1- Place the plant 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 plant on the table\n\u003c/PRED\u003e","video":"11921701551502084902.mp4"}
+{"uid":"4941468486895512604","text":"\u003ctask:success:discrete:True\u003e\nMove 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:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Move to the table\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Go to the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nGo 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","video":"15885445105341245014.mp4"}
+{"uid":"8289237922107093203","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nMove your arm away Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\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 away\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: make a diagonal line with the plants. last 20 steps: 1- Move to the table 2- Push the third indoor plant slightly to the left 3- Move the top plant to the right Q: next 5 steps? \u003cPRED\u003eA: 1- Move your arm away 2- Move to the plant on the floor 3- Pick the plant on the floor 4- Move your arm upwards 5- Go to the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove your arm away Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\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: make a diagonal line with the plants. Q: immediate next step? \u003cPRED\u003eA: Move your arm away\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move your arm away\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: make a diagonal line with the plants. last 20 steps: 1- Move to the table 2- Push the third indoor plant slightly to the left 3- Move the top plant to the right Q: immediate next step? \u003cPRED\u003eA: Move your arm away\n\u003c/PRED\u003e","video":"7822709693600126307.mp4"}
+{"uid":"3893411850328916377","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":"542860311675060121.mp4"}
+{"uid":"15418628130768300127","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the popcorn packet on the bench Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16210271578083086637.mp4"}
+{"uid":"8991831019355073321","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace 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":"3109121660584917224.mp4"}
+{"uid":"12215928180614101563","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: make a diagonal line with the plants. last 20 steps: 1- Move to the table 2- Push the third indoor plant slightly to the left 3- Move the top plant to the right 4- go away from the top indoor plant 5- Move to the plant on the floor 6- Pick the plant on the floor 7- Move your arm upwards 8- Go to the table Q: next 5 steps? \u003cPRED\u003eA: 1- go away from the bottom left indoor plant 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ngo away from the bottom left indoor plant Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: make a diagonal line with the plants. Q: immediate next step? \u003cPRED\u003eA: go away from the bottom left indoor plant\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: go away from the bottom left indoor plant\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: make a diagonal line with the plants. last 20 steps: 1- Move to the table 2- Push the third indoor plant slightly to the left 3- Move the top plant to the right 4- go away from the top indoor plant 5- Move to the plant on the floor 6- Pick the plant on the floor 7- Move your arm upwards 8- Go to the table Q: immediate next step? \u003cPRED\u003eA: go away from the bottom left indoor plant\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ngo away from the bottom left indoor plant Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\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 away from the bottom left indoor plant\n\u003c/PRED\u003e","video":"2157872157805926593.mp4"}
+{"uid":"17794435812213567932","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: make a diagonal line with the plants. Q: immediate next step? \u003cPRED\u003eA: Place it on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place it on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace it 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 it on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: make a diagonal line with the plants. last 20 steps: 1- Move to the table 2- Push the third indoor plant slightly to the left 3- Move the top plant to the right 4- go away from the top indoor plant 5- Move to the plant on the floor 6- Pick the plant on the floor 7- Move your arm upwards Q: immediate next step? \u003cPRED\u003eA: Place it on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: make a diagonal line with the plants. last 20 steps: 1- Move to the table 2- Push the third indoor plant slightly to the left 3- Move the top plant to the right 4- go away from the top indoor plant 5- Move to the plant on the floor 6- Pick the plant on the floor 7- Move your arm upwards Q: next 5 steps? \u003cPRED\u003eA: 1- Place it on the table 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place it on the table\n\u003c/PRED\u003e","video":"6334967354598424904.mp4"}
+{"uid":"12485057096219719641","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":"3132442514353381282.mp4"}
+{"uid":"4078382406561286027","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":"4231172962715244047.mp4"}
+{"uid":"18273106140373479713","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: make a diagonal line with the plants. last 20 steps: 1- Move to the table 2- Push the third indoor plant slightly to the left 3- Move the top plant to the right 4- go away from the top indoor plant 5- Move to the plant on the floor Q: immediate next step? \u003cPRED\u003eA: pick the indoor plant from the floor\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the indoor plant 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 indoor plant from the floor\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: make a diagonal line with the plants. Q: immediate next step? \u003cPRED\u003eA: pick the indoor plant from the floor\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the indoor plant from the floor\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the indoor plant 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: make a diagonal line with the plants. last 20 steps: 1- Move to the table 2- Push the third indoor plant slightly to the left 3- Move the top plant to the right 4- go away from the top indoor plant 5- Move to the plant on the floor Q: next 5 steps? \u003cPRED\u003eA: 1- pick the indoor plant from the floor 2- Go to the table 3- Place the plant on the table 4- done\n\u003c/PRED\u003e","video":"10869650498725067209.mp4"}
+{"uid":"15655983298984819577","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: make a diagonal line with the plants. last 20 steps: 1- Move to the table 2- Push the third indoor plant slightly to the left 3- Move the top plant to the right 4- go away from the top indoor plant 5- Move to the plant on the floor 6- Pick the plant on the floor 7- Move your arm upwards 8- Place the indoor plant on the bottom of 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 indoor plant on the bottom of the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: make a diagonal line with the plants. last 20 steps: 1- Move to the table 2- Push the third indoor plant slightly to the left 3- Move the top plant to the right 4- go away from the top indoor plant 5- Move to the plant on the floor 6- Pick the plant on the floor 7- Move your arm upwards 8- Place the indoor plant on the bottom of the table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: make a diagonal line with the plants. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the indoor plant on the bottom of 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":"4393285091354388000.mp4"}
+{"uid":"235927963315559518","text":"\u003ctask:success:discrete:True\u003e\nMove the top indoor plant to 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 the top indoor plant to the right\n\u003c/PRED\u003e","video":"11044698325067518514.mp4"}
+{"uid":"2255747686973110852","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Take it to the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nTake it 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","video":"16014003293397961953.mp4"}
+{"uid":"17401004777670873187","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: go away from the top indoor plant\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ngo away from the top indoor plant Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"364861364373616513.mp4"}
+{"uid":"14740848447402494533","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nLift it Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17420924205301857057.mp4"}
+{"uid":"3583793508512764281","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack the glasses 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":"15129682421325401713.mp4"}
+{"uid":"4829809823338184252","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Move your arm away from the indoor plants on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nMove your arm away from the indoor plants 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":"1660901569706534453.mp4"}
+{"uid":"10029727306969149337","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":"8224111624509783597.mp4"}
+{"uid":"14042860024725821472","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: make a diagonal line with the plants. Q: immediate next step? \u003cPRED\u003eA: Move your arm towards the indoor plant on the floor\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move your arm towards the indoor plant on the floor\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move your arm towards the indoor plant on the floor\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove your arm towards the indoor plant 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: make a diagonal line with the plants. last 20 steps: 1- Move to the table 2- Push the third indoor plant slightly to the left 3- Move the top plant to the right 4- go away from the top indoor plant Q: next 5 steps? \u003cPRED\u003eA: 1- Move your arm towards the indoor plant on the floor 2- Move your arm upwards 3- Go to the table 4- Place the plant on the table 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove your arm towards the indoor plant 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: make a diagonal line with the plants. last 20 steps: 1- Move to the table 2- Push the third indoor plant slightly to the left 3- Move the top plant to the right 4- go away from the top indoor plant Q: immediate next step? \u003cPRED\u003eA: Move your arm towards the indoor plant on the floor\n\u003c/PRED\u003e","video":"1491852865430713818.mp4"}
+{"uid":"16987349970252491994","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: make a diagonal line with the plants. last 20 steps: 1- Move to the table 2- Push the third indoor plant slightly to the left 3- Move the top plant to the right 4- go away from the top indoor plant Q: immediate next step? \u003cPRED\u003eA: Move closer to the plant\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: make a diagonal line with the plants. last 20 steps: 1- Move to the table 2- Push the third indoor plant slightly to the left 3- Move the top plant to the right 4- go away from the top indoor plant Q: next 5 steps? \u003cPRED\u003eA: 1- Move closer to the plant 2- Move your arm upwards 3- Go to the table 4- Place the plant on the table 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove closer to the plant Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\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 closer to the plant Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\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 closer to the plant\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: make a diagonal line with the plants. Q: immediate next step? \u003cPRED\u003eA: Move closer to the plant\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move closer to the plant\n\u003c/PRED\u003e","video":"5414169504695259165.mp4"}
+{"uid":"16809641167355778458","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":"4790630939804342801.mp4"}
+{"uid":"14415387182743937262","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":"9929850460637150739.mp4"}
+{"uid":"14905618659480154809","text":"\u003ctask:success:discrete:True\u003e\nMove the bottom second plant to left a bit Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\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 bottom second plant to left a bit\n\u003c/PRED\u003e","video":"4980399412568132450.mp4"}
+{"uid":"12134922486676407385","text":"\u003ctask:success:discrete:True\u003e\nMove 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\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Move your arm upwards\n\u003c/PRED\u003e","video":"3875411658649440186.mp4"}
+{"uid":"3358661384214581305","text":"\u003ctask:success:discrete:False\u003e\ndrop large 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop large black object\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop large black object\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: drop large black object\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the box 2- drop the bowl into the box 3- put the black wire in the white box 4- drop brown belt into the box 5- put the yellow packet in the white box 6- put the glue stick in the white box 7- put the spong in the white box 8- put the orange object in the white box 9- put the orange wire in the white box Q: immediate next step? \u003cPRED\u003eA: drop large black object\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the box 2- drop the bowl into the box 3- put the black wire in the white box 4- drop brown belt into the box 5- put the yellow packet in the white box 6- put the glue stick in the white box 7- put the spong in the white box 8- put the orange object in the white box 9- put the orange wire in the white box Q: next 5 steps? \u003cPRED\u003eA: 1- drop large black object 2- put the black object in the white box 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop large 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","video":"17367121319726982676.mp4"}
+{"uid":"15950342116833953288","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the yellow highlighter in the third 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":"859216242941963085.mp4"}
+{"uid":"10866931372867600815","text":"\u003ctask:success:discrete:True\u003e\nGo 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\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Go forward\n\u003c/PRED\u003e","video":"6044659387219709941.mp4"}
+{"uid":"6356852167555892230","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick a white 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":"161211635813443863.mp4"}
+{"uid":"16077686910647478457","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace 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":"2459133858573963665.mp4"}
+{"uid":"5748896412756957178","text":"\u003ctask:success:discrete:False\u003e\npour the white balls in the paper bowl with the help of 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pour the white balls in the paper bowl with the help of scoop\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you prepare me a bowl of pipcorn from the MK? Q: immediate next step? \u003cPRED\u003eA: pour the white balls in the paper bowl with the help of scoop\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you prepare me a bowl of pipcorn from the MK?. last 20 steps: 1- unstack the bowl 2- place the paper bowl on other side of the table 3- open the jar 4- pick the scoop Q: next 5 steps? \u003cPRED\u003eA: 1- pour the white balls in the paper bowl with the help of scoop 2- pour the white balls in the paper bowl with the help of a scoop 3- place the scoop in the holder 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you prepare me a bowl of pipcorn from the MK?. last 20 steps: 1- unstack the bowl 2- place the paper bowl on other side of the table 3- open the jar 4- pick the scoop Q: immediate next step? \u003cPRED\u003eA: pour the white balls in the paper bowl with the help of scoop\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pour the white balls in the paper bowl with the help of scoop\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npour the white balls in the paper bowl with the help of 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","video":"4938548703298560151.mp4"}
+{"uid":"15058869295295477978","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the pink packets 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":"4827582208026852399.mp4"}
+{"uid":"4018520005717429345","text":"\u003ctask:success:discrete:True\u003e\nput the spong in the white 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 spong in the white box\n\u003c/PRED\u003e","video":"3955102992297306157.mp4"}
+{"uid":"10907850555276612577","text":"\u003ctask:success:discrete:True\u003e\ndrop wire 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: drop wire into the box\n\u003c/PRED\u003e","video":"6298562445071911978.mp4"}
+{"uid":"14805493250073052111","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":"13901998058578482027.mp4"}
+{"uid":"3608916758368430241","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the box 2- drop the bowl into the box 3- put the black wire in the white box 4- drop brown belt into the box 5- put the yellow packet in the white box 6- put the glue stick in the white box 7- put the spong in the white box 8- put the orange object in the white box Q: next 5 steps? \u003cPRED\u003eA: 1- put the orange wire in the white box 2- put the black object in the white box 3- put the black object in the white box 4- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the orange wire in the white 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 orange wire in the white box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the orange wire in the white box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the box 2- drop the bowl into the box 3- put the black wire in the white box 4- drop brown belt into the box 5- put the yellow packet in the white box 6- put the glue stick in the white box 7- put the spong in the white box 8- put the orange object in the white box Q: immediate next step? \u003cPRED\u003eA: put the orange wire in the white box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: put the orange wire in the white box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the orange wire in the white 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":"5300575552751432877.mp4"}
+{"uid":"10728895648457951786","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":"1636322338303079493.mp4"}
+{"uid":"17697760673847038773","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Go ahead\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nGo ahead Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16667139971471017507.mp4"}
+{"uid":"14154150908284573897","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput orange 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":"16966519265204836606.mp4"}
+{"uid":"12768918579663591757","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the dark 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":"2765948830061785018.mp4"}
+{"uid":"13542840533349052220","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: drop small black object\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop small black object\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop small 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: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the box 2- drop the bowl into the box 3- put the black wire in the white box 4- drop brown belt into the box 5- put the yellow packet in the white box 6- put the glue stick in the white box 7- put the spong in the white box 8- put the orange object in the white box 9- put the orange wire in the white box 10- put the black object in the white box Q: immediate next step? \u003cPRED\u003eA: drop small black object\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop small 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: drop small black object\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the box 2- drop the bowl into the box 3- put the black wire in the white box 4- drop brown belt into the box 5- put the yellow packet in the white box 6- put the glue stick in the white box 7- put the spong in the white box 8- put the orange object in the white box 9- put the orange wire in the white box 10- put the black object in the white box Q: next 5 steps? \u003cPRED\u003eA: 1- drop small black object 2- done\n\u003c/PRED\u003e","video":"2711905323320547994.mp4"}
+{"uid":"8797475835869242530","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into 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 the black object in the white box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the black object in the white 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: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the box 2- drop the bowl into the box 3- put the black wire in the white box 4- drop brown belt into the box 5- put the yellow packet in the white box 6- put the glue stick in the white box 7- put the spong in the white box 8- put the orange object in the white box 9- put the orange wire in the white box 10- put the black object in the white box 11- put the black object in the white box Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the box 2- drop the bowl into the box 3- put the black wire in the white box 4- drop brown belt into the box 5- put the yellow packet in the white box 6- put the glue stick in the white box 7- put the spong in the white box 8- put the orange object in the white box 9- put the orange wire in the white box 10- put the black object in the white box 11- put the black object in the white box Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"13387655155085931767.mp4"}
+{"uid":"502409334045424546","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up the plastic bag in front of you, and bring it to me. last 20 steps: 1- Pick up the cover from the floor 2- Move out of the room 3- Move forward 4- Move ahead 5- Go forward 6- Go ahead Q: next 5 steps? \u003cPRED\u003eA: 1- Go to the room 2- Place the white cover on the floor 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nGo to 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 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 room\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Go to the room\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up the plastic bag in front of you, and bring it to me Q: immediate next step? \u003cPRED\u003eA: Go to the room\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up the plastic bag in front of you, and bring it to me. last 20 steps: 1- Pick up the cover from the floor 2- Move out of the room 3- Move forward 4- Move ahead 5- Go forward 6- Go ahead Q: immediate next step? \u003cPRED\u003eA: Go to the room\n\u003c/PRED\u003e","video":"2917083958732225805.mp4"}
+{"uid":"11459524295521442846","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the packet into the large 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":"14483218853474537564.mp4"}
+{"uid":"11329647332490297843","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the yellow packet in the white 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 yellow packet in the white box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the yellow packet in the white 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: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the box 2- drop the bowl into the box 3- put the black wire in the white box 4- drop brown belt into the box Q: next 5 steps? \u003cPRED\u003eA: 1- put the yellow packet in the white box 2- put the glue stick in the white box 3- put the spong in the white box 4- put the orange object in the white box 5- put the orange wire in the white box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the box 2- drop the bowl into the box 3- put the black wire in the white box 4- drop brown belt into the box Q: immediate next step? \u003cPRED\u003eA: put the yellow packet in the white box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the yellow packet in the white box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: put the yellow packet in the white box\n\u003c/PRED\u003e","video":"12681754947122436220.mp4"}
+{"uid":"11159788485989818896","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput tissue in the 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":"7978692969338704565.mp4"}
+{"uid":"2400984057507158452","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the box 2- drop the bowl into the box 3- put the black wire in the white box 4- drop brown belt into the box 5- put the yellow packet in the white box 6- put the glue stick in the white box 7- put the spong in the white box 8- put the orange object in the white box Q: immediate next step? \u003cPRED\u003eA: drop wire into the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop wire into the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the box 2- drop the bowl into the box 3- put the black wire in the white box 4- drop brown belt into the box 5- put the yellow packet in the white box 6- put the glue stick in the white box 7- put the spong in the white box 8- put the orange object in the white box Q: next 5 steps? \u003cPRED\u003eA: 1- drop wire into the box 2- put the black object in the white box 3- put the black object in the white box 4- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: drop wire into the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop wire 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: drop wire into the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop wire 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":"16652057317195016351.mp4"}
+{"uid":"12193435921297111725","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace 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":"9625827258317008632.mp4"}
+{"uid":"11525082217187696059","text":"\u003ctask:success:discrete:False\u003e\nPlace the white cover 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 the plastic bag in front of you, and bring it to me. last 20 steps: 1- Pick up the cover from the floor 2- Move out of the room 3- Move forward 4- Move ahead 5- Go forward 6- Go ahead 7- Go to the room Q: next 5 steps? \u003cPRED\u003eA: 1- Place the white cover on the floor 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the white cover 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 the plastic bag in front of you, and bring it to me. last 20 steps: 1- Pick up the cover from the floor 2- Move out of the room 3- Move forward 4- Move ahead 5- Go forward 6- Go ahead 7- Go to the room Q: immediate next step? \u003cPRED\u003eA: Place the white cover on the floor\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up the plastic bag in front of you, and bring it to me Q: immediate next step? \u003cPRED\u003eA: Place the white cover on the floor\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the white cover on the floor\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the white cover on the floor\n\u003c/PRED\u003e","video":"721022080222662549.mp4"}
+{"uid":"4439586166406545488","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":"11745785582084052842.mp4"}
+{"uid":"17854105520848606957","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":"13907801169950896317.mp4"}
+{"uid":"2004344811241058955","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop brown belt into the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop brown belt 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: drop brown belt into the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the box 2- drop the bowl into the box 3- put the black wire in the white box Q: immediate next step? \u003cPRED\u003eA: drop brown belt into the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: drop brown belt into the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the box 2- drop the bowl into the box 3- put the black wire in the white box Q: next 5 steps? \u003cPRED\u003eA: 1- drop brown belt into the box 2- put the yellow packet in the white box 3- put the glue stick in the white box 4- put the spong in the white box 5- put the orange object in the white box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop brown belt 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":"779889094751477717.mp4"}
+{"uid":"9727103167775846777","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop marker into the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop marker into the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop marker 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\ndrop marker 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 cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the box 2- drop the bowl into the box 3- put the black wire in the white box 4- drop brown belt into the box 5- put the yellow packet in the white box Q: immediate next step? \u003cPRED\u003eA: drop marker into the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: drop marker into the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the box 2- drop the bowl into the box 3- put the black wire in the white box 4- drop brown belt into the box 5- put the yellow packet in the white box Q: next 5 steps? \u003cPRED\u003eA: 1- drop marker into the box 2- put the spong in the white box 3- put the orange object in the white box 4- put the orange wire in the white box 5- put the black object in the white box\n\u003c/PRED\u003e","video":"17925148493475816776.mp4"}
+{"uid":"2404474332814713116","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the alphabetic tiles 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":"10667011143532941589.mp4"}
+{"uid":"9380024303043229542","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the black book up on the yellow 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":"17391672119494755392.mp4"}
+{"uid":"11406824769421893452","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nempty out 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":"4313772921515319020.mp4"}
+{"uid":"42682065247775979","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you prepare me a bowl of pipcorn from the MK?. last 20 steps: 1- unstack the bowl 2- place the paper bowl on other side of the table 3- open the jar 4- pick the scoop 5- pour the white balls in the paper bowl with the help of scoop 6- pour the white balls in the paper bowl with the help of a scoop Q: next 5 steps? \u003cPRED\u003eA: 1- place the scoop in the holder 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you prepare me a bowl of pipcorn from the MK?. last 20 steps: 1- unstack the bowl 2- place the paper bowl on other side of the table 3- open the jar 4- pick the scoop 5- pour the white balls in the paper bowl with the help of scoop 6- pour the white balls in the paper bowl with the help of a scoop Q: immediate next step? \u003cPRED\u003eA: place the scoop in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you prepare me a bowl of pipcorn from the MK? Q: immediate next step? \u003cPRED\u003eA: place the scoop in the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the scoop in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the scoop in the holder\n\u003c/PRED\u003e","video":"17662772608247932347.mp4"}
+{"uid":"15604000996990004714","text":"\u003ctask:success:discrete:True\u003e\ndrop large 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:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop large black object\n\u003c/PRED\u003e","video":"599196913917436111.mp4"}
+{"uid":"7211944160344328800","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the green pouch in the top center partition of the kit Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12485709107029697440.mp4"}
+{"uid":"1666927069858842698","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the black object in the white box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the black object in the white 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":"7804266814413052024.mp4"}
+{"uid":"16606841728603019633","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- open the box 2- drop the bowl into the box 3- put the black wire in the white box 4- drop brown belt into the box 5- put the yellow packet in the white box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nopen 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: open the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: open the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nopen 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: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: open the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open the box\n\u003c/PRED\u003e","video":"2158990679023671605.mp4"}
+{"uid":"12676800062507911344","text":"\u003ctask:success:discrete:True\u003e\nput orange bowl in the white 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 orange bowl in the white box\n\u003c/PRED\u003e","video":"10680633583489728767.mp4"}
+{"uid":"17610411295803744598","text":"\u003ctask:success:discrete:True\u003e\nPick up the cover 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 cover from the floor\n\u003c/PRED\u003e","video":"11777473976336805545.mp4"}
+{"uid":"66192118394402572","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the fork on the right side tissue 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":"9175437610190452688.mp4"}
+{"uid":"12823200435614703179","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the bath toy in the white 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":"10031539456294647599.mp4"}
+{"uid":"1196095822655154781","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":"4503126086558785825.mp4"}
+{"uid":"822805517091533417","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop 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":"1203648390030740604.mp4"}
+{"uid":"17041752594266230237","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPush the right chair 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":"8968778805553996587.mp4"}
+{"uid":"7142701507526131799","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nGo 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:success:discrete:False\u003e\nGo 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Go forward\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Go forward\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up the plastic bag in front of you, and bring it to me. last 20 steps: 1- Pick up the cover from the floor 2- Move out of the room 3- Move forward 4- Move ahead Q: immediate next step? \u003cPRED\u003eA: Go forward\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up the plastic bag in front of you, and bring it to me Q: immediate next step? \u003cPRED\u003eA: Go forward\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up the plastic bag in front of you, and bring it to me. last 20 steps: 1- Pick up the cover from the floor 2- Move out of the room 3- Move forward 4- Move ahead Q: next 5 steps? \u003cPRED\u003eA: 1- Go forward 2- Go ahead 3- Go to the room 4- Place the white cover on the floor 5- done\n\u003c/PRED\u003e","video":"17160819233037960797.mp4"}
+{"uid":"11507734478867625691","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":"8066951167811599842.mp4"}
+{"uid":"4586733435265453398","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the box 2- drop the bowl into the box 3- put the black wire in the white box 4- drop brown belt into the box 5- put the yellow packet in the white box 6- put the glue stick in the white box 7- put the spong in the white box 8- put the orange object in the white box 9- put the orange wire in the white box Q: immediate next step? \u003cPRED\u003eA: put the black object in the white box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the black object in the white 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 the black object in the white 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 black object in the white box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the black object in the white box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: put the black object in the white box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the box 2- drop the bowl into the box 3- put the black wire in the white box 4- drop brown belt into the box 5- put the yellow packet in the white box 6- put the glue stick in the white box 7- put the spong in the white box 8- put the orange object in the white box 9- put the orange wire in the white box Q: next 5 steps? \u003cPRED\u003eA: 1- put the black object in the white box 2- put the black object in the white box 3- done\n\u003c/PRED\u003e","video":"16677240569723448906.mp4"}
+{"uid":"8863463393180054494","text":"\u003ctask:success:discrete:True\u003e\nput the glue stick in the white 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 glue stick in the white box\n\u003c/PRED\u003e","video":"12222042849479833628.mp4"}
+{"uid":"5784419605584074469","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the box 2- drop the bowl into the box 3- put the black wire in the white box 4- drop brown belt into the box 5- put the yellow packet in the white box 6- put the glue stick in the white box 7- put the spong in the white box 8- put the orange object in the white box 9- put the orange wire in the white box 10- put the black object in the white box Q: next 5 steps? \u003cPRED\u003eA: 1- put the black object in the white box 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the black object in the white box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the black object in the white 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 cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the box 2- drop the bowl into the box 3- put the black wire in the white box 4- drop brown belt into the box 5- put the yellow packet in the white box 6- put the glue stick in the white box 7- put the spong in the white box 8- put the orange object in the white box 9- put the orange wire in the white box 10- put the black object in the white box Q: immediate next step? \u003cPRED\u003eA: put the black object in the white box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the black object in the white box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: put the black object in the white box\n\u003c/PRED\u003e","video":"5765212624478838341.mp4"}
+{"uid":"2157405074474044584","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up the plastic bag in front of you, and bring it to me 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move forward\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up the plastic bag in front of you, and bring it to me. last 20 steps: 1- Pick up the cover from the floor 2- Move out of the room Q: immediate next step? \u003cPRED\u003eA: Move forward\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up the plastic bag in front of you, and bring it to me. last 20 steps: 1- Pick up the cover from the floor 2- Move out of the room Q: next 5 steps? \u003cPRED\u003eA: 1- Move forward 2- Move ahead 3- Go forward 4- Go ahead 5- Go to the room\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\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","video":"2287067378343028213.mp4"}
+{"uid":"5771732872087842740","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput cup updown on the  table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1365875189959169906.mp4"}
+{"uid":"5683881673611318071","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: drop sponge into the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the box 2- drop the bowl into the box 3- put the black wire in the white box 4- drop brown belt into the box 5- put the yellow packet in the white box 6- put the glue stick in the white box Q: next 5 steps? \u003cPRED\u003eA: 1- drop sponge into the box 2- put the orange object in the white box 3- put the orange wire in the white box 4- put the black object in the white box 5- put the black object in the white box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop sponge 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: drop sponge into the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop sponge into the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop sponge 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 cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the box 2- drop the bowl into the box 3- put the black wire in the white box 4- drop brown belt into the box 5- put the yellow packet in the white box 6- put the glue stick in the white box Q: immediate next step? \u003cPRED\u003eA: drop sponge into the box\n\u003c/PRED\u003e","video":"1660953730712337519.mp4"}
+{"uid":"3130391355227348597","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":"14770588065499420262.mp4"}
+{"uid":"2913649931129790703","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":"2952518830847112620.mp4"}
+{"uid":"14511638948966195245","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nadjust 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":"5093998746859418471.mp4"}
+{"uid":"12541313664359508800","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the cover 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 cover from the floor\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the cover from the floor\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up the plastic bag in front of you, and bring it to me. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the cover from the floor 2- Move out of the room 3- Move forward 4- Move ahead 5- Go forward\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up the plastic bag in front of you, and bring it to me. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Pick up the cover from the floor\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up the plastic bag in front of you, and bring it to me Q: immediate next step? \u003cPRED\u003eA: Pick up the cover from the floor\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the cover 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","video":"16809935127863580596.mp4"}
+{"uid":"15284344714041853147","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you prepare me a bowl of pipcorn from the MK?. last 20 steps: 1- unstack the bowl 2- place the paper bowl on other side of the table 3- open the jar Q: immediate next step? \u003cPRED\u003eA: pick the scoop\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you prepare me a bowl of pipcorn from the MK?. last 20 steps: 1- unstack the bowl 2- place the paper bowl on other side of the table 3- open the jar Q: next 5 steps? \u003cPRED\u003eA: 1- pick the scoop 2- pour the white balls in the paper bowl with the help of scoop 3- pour the white balls in the paper bowl with the help of a scoop 4- place the scoop in the holder 5- done\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: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: Can you prepare me a bowl of pipcorn from the MK? Q: immediate next step? \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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the scoop\n\u003c/PRED\u003e","video":"1938046643830581072.mp4"}
+{"uid":"7377026952384876284","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Move forward\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nMove 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":"10526372035034797411.mp4"}
+{"uid":"16428626035684865058","text":"\u003ctask:success:discrete:True\u003e\nput the orange object in the white 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 orange object in the white box\n\u003c/PRED\u003e","video":"15230764437555164611.mp4"}
+{"uid":"17808163709921849582","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput book 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":"15318353233618519984.mp4"}
+{"uid":"2047531749883759917","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the box 2- drop the bowl into the box Q: immediate next step? \u003cPRED\u003eA: drop the cable into the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the cable into the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: drop the cable into the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the cable into the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the box 2- drop the bowl into the box Q: next 5 steps? \u003cPRED\u003eA: 1- drop the cable into the box 2- drop brown belt into the box 3- put the yellow packet in the white box 4- put the glue stick in the white box 5- put the spong in the white box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the 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:success:discrete:False\u003e\ndrop the 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":"7970756985344970232.mp4"}
+{"uid":"12225740601710050619","text":"\u003ctask:success:discrete:False\u003e\nopen 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: Can you prepare me a bowl of pipcorn from the MK?. last 20 steps: 1- unstack the bowl Q: immediate next step? \u003cPRED\u003eA: open the jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nopen 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: open the jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you prepare me a bowl of pipcorn from the MK? Q: immediate next step? \u003cPRED\u003eA: open the jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open the jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you prepare me a bowl of pipcorn from the MK?. last 20 steps: 1- unstack the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- open the jar 2- pick the scoop 3- pour the white balls in the paper bowl with the help of scoop 4- pour the white balls in the paper bowl with the help of a scoop 5- place the scoop in the holder\n\u003c/PRED\u003e","video":"13743375023173196594.mp4"}
+{"uid":"16403198299318438388","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the box 2- drop the bowl into the box 3- put the black wire in the white box Q: immediate next step? \u003cPRED\u003eA: pput the packet in the white box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npput the packet in the white 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: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the box 2- drop the bowl into the box 3- put the black wire in the white box Q: next 5 steps? \u003cPRED\u003eA: 1- pput the packet in the white box 2- put the yellow packet in the white box 3- put the glue stick in the white box 4- put the spong in the white box 5- put the orange object in the white box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npput the packet in the white 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: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: pput the packet in the white box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pput the packet in the white box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pput the packet in the white box\n\u003c/PRED\u003e","video":"7638657957789867257.mp4"}
+{"uid":"17140179221572172294","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you prepare me a bowl of pipcorn from the MK? Q: immediate next step? \u003cPRED\u003eA: pour the white balls in the paper bowl with the help of a scoop\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you prepare me a bowl of pipcorn from the MK?. last 20 steps: 1- unstack the bowl 2- place the paper bowl on other side of the table 3- open the jar 4- pick the scoop 5- pour the white balls in the paper bowl with the help of scoop Q: immediate next step? \u003cPRED\u003eA: pour the white balls in the paper bowl with the help of a scoop\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pour the white balls in the paper bowl with the help of a scoop\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npour the white balls in the paper bowl with the help of a 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:discriminative:discrete:True\u003e\npour the white balls in the paper bowl with the help of a 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pour the white balls in the paper bowl with the help of a scoop\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you prepare me a bowl of pipcorn from the MK?. last 20 steps: 1- unstack the bowl 2- place the paper bowl on other side of the table 3- open the jar 4- pick the scoop 5- pour the white balls in the paper bowl with the help of scoop Q: next 5 steps? \u003cPRED\u003eA: 1- pour the white balls in the paper bowl with the help of a scoop 2- place the scoop in the holder 3- done\n\u003c/PRED\u003e","video":"9239319935522331165.mp4"}
+{"uid":"8906302244175141927","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":"14529371397011116584.mp4"}
+{"uid":"9813057648603213494","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":"18407462220521685948.mp4"}
+{"uid":"4006144845039285373","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the orange object in the white box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the box 2- drop the bowl into the box 3- put the black wire in the white box 4- drop brown belt into the box 5- put the yellow packet in the white box 6- put the glue stick in the white box 7- put the spong in the white box Q: immediate next step? \u003cPRED\u003eA: put the orange object in the white box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the orange object in the white 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: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: put the orange object in the white box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the box 2- drop the bowl into the box 3- put the black wire in the white box 4- drop brown belt into the box 5- put the yellow packet in the white box 6- put the glue stick in the white box 7- put the spong in the white box Q: next 5 steps? \u003cPRED\u003eA: 1- put the orange object in the white box 2- put the orange wire in the white box 3- put the black object in the white box 4- put the black object in the white box 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the orange object in the white 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 orange object in the white box\n\u003c/PRED\u003e","video":"7418495758378004419.mp4"}
+{"uid":"3205377119166716824","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":"9324008796838640110.mp4"}
+{"uid":"10827589222315076044","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":"17771570084308879866.mp4"}
+{"uid":"8902243240579669643","text":"\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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you prepare me a bowl of pipcorn from the MK?. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- unstack the bowl 2- place the paper bowl on other side of the table 3- open the jar 4- pick the scoop 5- pour the white balls in the paper bowl with the help of scoop\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you prepare me a bowl of pipcorn from the MK?. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: unstack the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you prepare me a bowl of pipcorn from the MK? 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: unstack the bowl\n\u003c/PRED\u003e","video":"8167621202282633682.mp4"}
+{"uid":"8377220247797944318","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the glue stick in the white box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: put the glue stick in the white box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the glue stick in the white 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 glue stick in the white 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 cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the box 2- drop the bowl into the box 3- put the black wire in the white box 4- drop brown belt into the box 5- put the yellow packet in the white box Q: immediate next step? \u003cPRED\u003eA: put the glue stick in the white box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the glue stick in the white box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the box 2- drop the bowl into the box 3- put the black wire in the white box 4- drop brown belt into the box 5- put the yellow packet in the white box Q: next 5 steps? \u003cPRED\u003eA: 1- put the glue stick in the white box 2- put the spong in the white box 3- put the orange object in the white box 4- put the orange wire in the white box 5- put the black object in the white box\n\u003c/PRED\u003e","video":"16469500771235817310.mp4"}
+{"uid":"16641921088741652938","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Go to the room\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nGo to 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":"13243806837716564760.mp4"}
+{"uid":"8578852034713934771","text":"\u003ctask:success:discrete:True\u003e\nput the orange wire in the white 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 orange wire in the white box\n\u003c/PRED\u003e","video":"11403639967629336967.mp4"}
+{"uid":"9709088697398853307","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up the plastic bag in front of you, and bring it to me. last 20 steps: 1- Pick up the cover from the floor 2- Move out of the room 3- Move forward Q: immediate next step? \u003cPRED\u003eA: Move ahead\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move ahead\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move ahead\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove ahead Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED: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 plastic bag in front of you, and bring it to me. last 20 steps: 1- Pick up the cover from the floor 2- Move out of the room 3- Move forward Q: next 5 steps? \u003cPRED\u003eA: 1- Move ahead 2- Go forward 3- Go ahead 4- Go to the room 5- Place the white cover on the floor\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up the plastic bag in front of you, and bring it to me Q: immediate next step? \u003cPRED\u003eA: Move ahead\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove ahead Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7200489659700533195.mp4"}
+{"uid":"9801029623694566653","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":"4334212998922558466.mp4"}
+{"uid":"4190103864386146383","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the sugar 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":"15133450977821458576.mp4"}
+{"uid":"869206335259043928","text":"\u003ctask:success:discrete:True\u003e\nput the yellow packet in the white 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 yellow packet in the white box\n\u003c/PRED\u003e","video":"7453590043163769146.mp4"}
+{"uid":"10150871368993989423","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nOpen 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":"8594375232244146919.mp4"}
+{"uid":"4617464444157190828","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nlift 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":"10971345512298363544.mp4"}
+{"uid":"3688430065730430301","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the bowl into the box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop the bowl 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":"11829692866293080425.mp4"}
+{"uid":"685568161821727042","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":"637709107854109163.mp4"}
+{"uid":"15379994376538425323","text":"\u003ctask:success:discrete:False\u003e\ndrop the packet 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\ndrop the packet 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 cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the box 2- drop the bowl into the box 3- put the black wire in the white box 4- drop brown belt into the box Q: immediate next step? \u003cPRED\u003eA: drop the packet into the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the packet into the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: drop the packet into the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the box 2- drop the bowl into the box 3- put the black wire in the white box 4- drop brown belt into the box Q: next 5 steps? \u003cPRED\u003eA: 1- drop the packet into the box 2- put the glue stick in the white box 3- put the spong in the white box 4- put the orange object in the white box 5- put the orange wire in the white box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the packet into the box\n\u003c/PRED\u003e","video":"4109583312158625146.mp4"}
+{"uid":"4487616948989041917","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: open the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nopen 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":"11775811630105574081.mp4"}
+{"uid":"7409564364211996723","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: open the box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nopen 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":"11386424062410912071.mp4"}
+{"uid":"8336169271625742710","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut banana 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":"5042966229151489225.mp4"}
+{"uid":"260133505686197911","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput orange bowl in the white 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 orange bowl in the white box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput orange bowl in the white 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: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the box Q: next 5 steps? \u003cPRED\u003eA: 1- put orange bowl in the white box 2- put the black wire in the white box 3- drop brown belt into the box 4- put the yellow packet in the white box 5- put the glue stick in the white box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: put orange bowl in the white box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put orange bowl in the white box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the box Q: immediate next step? \u003cPRED\u003eA: put orange bowl in the white box\n\u003c/PRED\u003e","video":"3915995266952581420.mp4"}
+{"uid":"18242687063083248031","text":"\u003ctask:success:discrete:True\u003e\npour the white balls in the paper bowl with the help of a scoop Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pour the white balls in the paper bowl with the help of a scoop\n\u003c/PRED\u003e","video":"6794664122287896461.mp4"}
+{"uid":"15538727339227721492","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop knob into the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop knob 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:success:discrete:False\u003e\ndrop knob 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the box 2- drop the bowl into the box 3- put the black wire in the white box 4- drop brown belt into the box 5- put the yellow packet in the white box 6- put the glue stick in the white box 7- put the spong in the white box Q: next 5 steps? \u003cPRED\u003eA: 1- drop knob into the box 2- put the orange wire in the white box 3- put the black object in the white box 4- put the black object in the white box 5- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the box 2- drop the bowl into the box 3- put the black wire in the white box 4- drop brown belt into the box 5- put the yellow packet in the white box 6- put the glue stick in the white box 7- put the spong in the white box Q: immediate next step? \u003cPRED\u003eA: drop knob into the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop knob into the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: drop knob into the box\n\u003c/PRED\u003e","video":"13081312303319689227.mp4"}
+{"uid":"17234092386884463245","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove 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":"15663595796013902899.mp4"}
+{"uid":"2765413561538499491","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- open the white box 2- drop the bowl into the box 3- put the black wire in the white box 4- drop brown belt into the box 5- put the yellow packet in the white box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nopen the white 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 cardboard box on the floor, then place items from the desk into the box. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: open the white box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nopen the white 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: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: open the white box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open the white box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open the white box\n\u003c/PRED\u003e","video":"9300096643716014076.mp4"}
+{"uid":"11027773905114445360","text":"\u003ctask:success:discrete:False\u003e\ndrop the bowl 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: drop the bowl into the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the box Q: immediate next step? \u003cPRED\u003eA: drop the bowl into the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: drop the bowl into the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the bowl into the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the box Q: next 5 steps? \u003cPRED\u003eA: 1- drop the bowl into the box 2- put the black wire in the white box 3- drop brown belt into the box 4- put the yellow packet in the white box 5- put the glue stick in the white box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the bowl 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":"10175167852656679881.mp4"}
+{"uid":"7907664080614771460","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move out of the room\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move out of the room\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove out of 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: pick up the plastic bag in front of you, and bring it to me. last 20 steps: 1- Pick up the cover from the floor Q: immediate next step? \u003cPRED\u003eA: Move out of the room\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove out of 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: pick up the plastic bag in front of you, and bring it to me. last 20 steps: 1- Pick up the cover from the floor Q: next 5 steps? \u003cPRED\u003eA: 1- Move out of the room 2- Move forward 3- Move ahead 4- Go forward 5- Go ahead\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up the plastic bag in front of you, and bring it to me Q: immediate next step? \u003cPRED\u003eA: Move out of the room\n\u003c/PRED\u003e","video":"8032303881487295267.mp4"}
+{"uid":"9415943967949898525","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: open the white box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open the white box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nopen the white 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 white box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nopen the white 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: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- open the white box 2- drop the bowl into the box 3- put the black wire in the white box 4- drop brown belt into the box 5- put the yellow packet in the white box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: open the white box\n\u003c/PRED\u003e","video":"9358082155314210736.mp4"}
+{"uid":"9591079436495403603","text":"\u003ctask:success:discrete:True\u003e\nput the black wire in the white 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 black wire in the white box\n\u003c/PRED\u003e","video":"10119543600680472814.mp4"}
+{"uid":"11399802977238813210","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop brown belt into the box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop brown belt 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":"10763233530678731716.mp4"}
+{"uid":"334192768523891018","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the box 2- drop the bowl into the box 3- put the black wire in the white box 4- drop brown belt into the box 5- put the yellow packet in the white box 6- put the glue stick in the white box Q: immediate next step? \u003cPRED\u003eA: put the spong in the white box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the box 2- drop the bowl into the box 3- put the black wire in the white box 4- drop brown belt into the box 5- put the yellow packet in the white box 6- put the glue stick in the white box Q: next 5 steps? \u003cPRED\u003eA: 1- put the spong in the white box 2- put the orange object in the white box 3- put the orange wire in the white box 4- put the black object in the white box 5- put the black object in the white box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the spong in the white 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 the spong in the white 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: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: put the spong in the white box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the spong in the white box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the spong in the white box\n\u003c/PRED\u003e","video":"16185889024745294428.mp4"}
+{"uid":"17492902068328264655","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you prepare me a bowl of pipcorn from the MK? Q: immediate next step? \u003cPRED\u003eA: place the paper bowl on other side of the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you prepare me a bowl of pipcorn from the MK?. last 20 steps: 1- unstack the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place the paper bowl on other side of the table 2- pick the scoop 3- pour the white balls in the paper bowl with the help of scoop 4- pour the white balls in the paper bowl with the help of a scoop 5- place the scoop in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you prepare me a bowl of pipcorn from the MK?. last 20 steps: 1- unstack the bowl Q: immediate next step? \u003cPRED\u003eA: place the paper bowl on other side of the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the paper bowl on other 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 paper bowl on other side of the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the paper bowl on other 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 paper bowl on other 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":"3844747027321062677.mp4"}
+{"uid":"9086436750562738817","text":"\u003ctask:success:discrete:True\u003e\nMove out of 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: Move out of the room\n\u003c/PRED\u003e","video":"5108553134339980883.mp4"}
+{"uid":"14699112170284201055","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the black wire in the white 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: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: put the black wire in the white box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the black wire in the white 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 cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the box 2- drop the bowl into the box Q: immediate next step? \u003cPRED\u003eA: put the black wire in the white box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the black wire in the white box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the black wire in the white box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the box 2- drop the bowl into the box Q: next 5 steps? \u003cPRED\u003eA: 1- put the black wire in the white box 2- drop brown belt into the box 3- put the yellow packet in the white box 4- put the glue stick in the white box 5- put the spong in the white box\n\u003c/PRED\u003e","video":"10495179443598653965.mp4"}
+{"uid":"12313144257604196897","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pour the white balls in the paper bowl with the help of scoop\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npour the white balls in the paper bowl with the help of scoop Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16672860496626847306.mp4"}
+{"uid":"1583491867866858256","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up the plastic bag in front of you, and bring it to me. last 20 steps: 1- Pick up the cover from the floor 2- Move out of the room 3- Move forward 4- Move ahead 5- Go forward 6- Go ahead 7- Go to the room 8- Place the white cover on the floor Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up the plastic bag in front of you, and bring it to me Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up the plastic bag in front of you, and bring it to me. last 20 steps: 1- Pick up the cover from the floor 2- Move out of the room 3- Move forward 4- Move ahead 5- Go forward 6- Go ahead 7- Go to the room 8- Place the white cover 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: Place the white cover on the floor\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the white cover 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":"11312408100120065383.mp4"}
+{"uid":"13841422906329348393","text":"\u003ctask:success:discrete:False\u003e\nGo ahead Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\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 the plastic bag in front of you, and bring it to me Q: immediate next step? \u003cPRED\u003eA: Go ahead\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nGo ahead Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\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 ahead\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up the plastic bag in front of you, and bring it to me. last 20 steps: 1- Pick up the cover from the floor 2- Move out of the room 3- Move forward 4- Move ahead 5- Go forward Q: next 5 steps? \u003cPRED\u003eA: 1- Go ahead 2- Go to the room 3- Place the white cover on the floor 4- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Go ahead\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up the plastic bag in front of you, and bring it to me. last 20 steps: 1- Pick up the cover from the floor 2- Move out of the room 3- Move forward 4- Move ahead 5- Go forward Q: immediate next step? \u003cPRED\u003eA: Go ahead\n\u003c/PRED\u003e","video":"7620755358495526418.mp4"}
+{"uid":"1550974744525364521","text":"\u003ctask:success:discrete:True\u003e\nplace the paper bowl on other side of 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 paper bowl on other side of the table\n\u003c/PRED\u003e","video":"440292651521150527.mp4"}
+{"uid":"16910593317487193565","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- place an orange in the white bowl 2- place an orange in the white bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place a banana in the white bowl 2- place a candy in brown bowl 3- place a candy in brown bowl 4- place a candy in brown bowl 5- place a candy in brown bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place a banana in the white bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace a banana in 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place a banana in the white bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. Q: immediate next step? \u003cPRED\u003eA: place a banana in the white bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- place an orange in the white bowl 2- place an orange in the white bowl Q: immediate next step? \u003cPRED\u003eA: place a banana in the white bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace a banana in 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":"8847429074628914628.mp4"}
+{"uid":"5710009022456897647","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the pea on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17111775495600001743.mp4"}
+{"uid":"2394481342567544848","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":"1107165885147218318.mp4"}
+{"uid":"3733901184550675872","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place a candy in brown bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- place an orange in the white bowl 2- place an orange in the white bowl 3- place a banana in the white bowl Q: immediate next step? \u003cPRED\u003eA: place a candy in brown bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. Q: immediate next step? \u003cPRED\u003eA: place a candy in brown bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place a candy in brown bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- place an orange in the white bowl 2- place an orange in the white bowl 3- place a banana in the white bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place a candy in brown bowl 2- place a candy in brown bowl 3- place a candy in brown bowl 4- place a candy in brown bowl 5- place a candy in brown bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace a candy in brown 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 a candy in brown 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":"12197155780876406480.mp4"}
+{"uid":"18034267721928106348","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput candy in 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- place an orange in the white bowl 2- place an orange in the white bowl 3- place a banana in the white bowl 4- place a candy in brown bowl 5- place a candy in brown bowl 6- place a candy in brown bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put candy in the red bowl 2- place a candy in brown bowl 3- place a tissue on the table 4- place brown bowl on the tissue 5- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. Q: immediate next step? \u003cPRED\u003eA: put candy in the red bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- place an orange in the white bowl 2- place an orange in the white bowl 3- place a banana in the white bowl 4- place a candy in brown bowl 5- place a candy in brown bowl 6- place a candy in brown bowl Q: immediate next step? \u003cPRED\u003eA: put candy in the red bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put candy in the red bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put candy in the red bowl\n\u003c/PRED\u003e","video":"1249241893534283657.mp4"}
+{"uid":"10487880616624872214","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":"14425412942602525057.mp4"}
+{"uid":"9687299265557790356","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput candy in 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put candy in the red bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. Q: immediate next step? \u003cPRED\u003eA: put candy in the red bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- place an orange in the white bowl 2- place an orange in the white bowl 3- place a banana in the white bowl 4- place a candy in brown bowl 5- place a candy in brown bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put candy in the red bowl 2- place a candy in brown bowl 3- place a candy in brown bowl 4- place a tissue on the table 5- place brown bowl on the tissue\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- place an orange in the white bowl 2- place an orange in the white bowl 3- place a banana in the white bowl 4- place a candy in brown bowl 5- place a candy in brown bowl Q: immediate next step? \u003cPRED\u003eA: put candy in the red bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put candy in the red bowl\n\u003c/PRED\u003e","video":"7677669004470978083.mp4"}
+{"uid":"1278147260413674203","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the banana 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":"15352064652886925320.mp4"}
+{"uid":"215464454799941999","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":"16916505629557990394.mp4"}
+{"uid":"9426253092571620868","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the blue plate in stacked 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":"10969022279979183165.mp4"}
+{"uid":"4658727995584280214","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. Q: immediate next step? \u003cPRED\u003eA: place an orange in the white bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace an orange in 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 in the white bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place an orange in the white bowl 2- place an orange in the white bowl 3- place a banana in the white bowl 4- place a candy in brown bowl 5- place a candy in brown bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace an orange in 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: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place an orange in the white bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place an orange in the white bowl\n\u003c/PRED\u003e","video":"11606717325921495807.mp4"}
+{"uid":"8826958737999584163","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the brown 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":"1823234959982770871.mp4"}
+{"uid":"8091297591996795053","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put banana in white bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put banana in white bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput banana 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:affordance:discriminative:discrete:True\u003e\nput banana 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 the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- place an orange in the white bowl 2- place an orange in the white bowl Q: immediate next step? \u003cPRED\u003eA: put banana in white bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- place an orange in the white bowl 2- place an orange in the white bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put banana in white bowl 2- place a candy in brown bowl 3- place a candy in brown bowl 4- place a candy in brown bowl 5- place a candy in brown bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. Q: immediate next step? \u003cPRED\u003eA: put banana in white bowl\n\u003c/PRED\u003e","video":"6452352792277660850.mp4"}
+{"uid":"9711206587247727400","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace a candy in brown 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 candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. Q: immediate next step? \u003cPRED\u003eA: place a candy in brown bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- place an orange in the white bowl 2- place an orange in the white bowl 3- place a banana in the white bowl 4- place a candy in brown bowl Q: immediate next step? \u003cPRED\u003eA: place a candy in brown bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- place an orange in the white bowl 2- place an orange in the white bowl 3- place a banana in the white bowl 4- place a candy in brown bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place a candy in brown bowl 2- place a candy in brown bowl 3- place a candy in brown bowl 4- place a candy in brown bowl 5- 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 candy in brown bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place a candy in brown bowl\n\u003c/PRED\u003e","video":"6372563530810214811.mp4"}
+{"uid":"16705814097223970309","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. Q: immediate next step? \u003cPRED\u003eA: place an orange in 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 in the white bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace an orange in 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: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- place an orange in the white bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place an orange in the white bowl 2- place a banana in the white bowl 3- place a candy in brown bowl 4- place a candy in brown bowl 5- place a candy in brown bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- place an orange in the white bowl Q: immediate next step? \u003cPRED\u003eA: place an orange in the white bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place an orange in the white bowl\n\u003c/PRED\u003e","video":"8429270781321878052.mp4"}
+{"uid":"1229260877588295079","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put orange in the white bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput orange in 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":"5787793196560017177.mp4"}
+{"uid":"8919399897227923182","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":"15159838303571426380.mp4"}
+{"uid":"4583409893698816846","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put tissue on table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. Q: immediate next step? \u003cPRED\u003eA: put tissue on table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- place an orange in the white bowl 2- place an orange in the white bowl 3- place a banana in the white bowl 4- place a candy in brown bowl 5- place a candy in brown bowl 6- place a candy in brown bowl 7- place a candy in brown bowl 8- place a candy in brown bowl Q: immediate next step? \u003cPRED\u003eA: put tissue on table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput tissue 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 tissue 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 the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- place an orange in the white bowl 2- place an orange in the white bowl 3- place a banana in the white bowl 4- place a candy in brown bowl 5- place a candy in brown bowl 6- place a candy in brown bowl 7- place a candy in brown bowl 8- place a candy in brown bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put tissue on table 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put tissue on table\n\u003c/PRED\u003e","video":"12862825496760907968.mp4"}
+{"uid":"3774191434522261143","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the plastic knife 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":"7491640613192644281.mp4"}
+{"uid":"4367807588204979254","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put candy in brown bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput candy in brown 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 candy in brown bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- place an orange in the white bowl 2- place an orange in the white bowl 3- place a banana in the white bowl Q: immediate next step? \u003cPRED\u003eA: put candy in brown bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput candy in brown 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 candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. Q: immediate next step? \u003cPRED\u003eA: put candy in brown bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- place an orange in the white bowl 2- place an orange in the white bowl 3- place a banana in the white bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put candy in brown bowl 2- place a candy in brown bowl 3- place a candy in brown bowl 4- place a candy in brown bowl 5- place a tissue on the table\n\u003c/PRED\u003e","video":"10300990354188959249.mp4"}
+{"uid":"2225365313405855835","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- place an orange in the white bowl 2- place an orange in the white bowl 3- place a banana in the white bowl 4- place a candy in brown bowl 5- place a candy in brown bowl Q: immediate next step? \u003cPRED\u003eA: put candy in brown bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- place an orange in the white bowl 2- place an orange in the white bowl 3- place a banana in the white bowl 4- place a candy in brown bowl 5- place a candy in brown bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put candy in brown bowl 2- place a candy in brown bowl 3- place a tissue on the table 4- place brown bowl on the tissue 5- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. Q: immediate next step? \u003cPRED\u003eA: put candy in brown bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put candy in brown bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput candy in brown 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 candy in brown bowl\n\u003c/PRED\u003e","video":"1920350738637900982.mp4"}
+{"uid":"1664114896152880926","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":"15140659033460316662.mp4"}
+{"uid":"2755703736284060216","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the white candy ball 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":"12739029371995301371.mp4"}
+{"uid":"18059657960508753234","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. Q: immediate next step? \u003cPRED\u003eA: place a candy in brown bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place a candy in brown bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- place an orange in the white bowl 2- place an orange in the white bowl 3- place a banana in the white bowl 4- place a candy in brown bowl 5- place a candy in brown bowl Q: immediate next step? \u003cPRED\u003eA: place a candy in brown bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace a candy in brown 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 candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- place an orange in the white bowl 2- place an orange in the white bowl 3- place a banana in the white bowl 4- place a candy in brown bowl 5- place a candy in brown bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place a candy in brown bowl 2- place a candy in brown bowl 3- place a candy in brown bowl 4- place a tissue on the table 5- place brown bowl on the tissue\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place a candy in brown bowl\n\u003c/PRED\u003e","video":"9948876644721149320.mp4"}
+{"uid":"17765656823173761204","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the 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":"10466274903558650629.mp4"}
+{"uid":"2624877176543008948","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the oreo 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":"2732288686303790859.mp4"}
+{"uid":"2944083893127462920","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- place an orange in the white bowl 2- place an orange in the white bowl 3- place a banana in the white bowl 4- place a candy in brown bowl 5- place a candy in brown bowl 6- place a candy in brown bowl 7- place a candy in brown bowl 8- place a candy in brown bowl 9- place a tissue on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place brown bowl on the tissue 2- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace brown bowl 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:affordance:discriminative:discrete:True\u003e\nplace brown bowl 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:planning:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. Q: immediate next step? \u003cPRED\u003eA: place brown bowl on the tissue\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- place an orange in the white bowl 2- place an orange in the white bowl 3- place a banana in the white bowl 4- place a candy in brown bowl 5- place a candy in brown bowl 6- place a candy in brown bowl 7- place a candy in brown bowl 8- place a candy in brown bowl 9- place a tissue on the table Q: immediate next step? \u003cPRED\u003eA: place brown bowl on the tissue\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place brown bowl on the tissue\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place brown bowl on the tissue\n\u003c/PRED\u003e","video":"1341501390855072109.mp4"}
+{"uid":"15654029545683184182","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop 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":"11531856385817194432.mp4"}
+{"uid":"8084720701829329216","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the turkey stick 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":"10397602739739296785.mp4"}
+{"uid":"6830865419843089031","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":"1984202656978842242.mp4"}
+{"uid":"17215315194423979260","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nlift the brown 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":"13961031891323703760.mp4"}
+{"uid":"16113613232227561828","text":"\u003ctask:success:discrete:True\u003e\nput orange in 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: put orange in the white bowl\n\u003c/PRED\u003e","video":"15671922343070910619.mp4"}
+{"uid":"1932888788420590105","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. Q: immediate next step? \u003cPRED\u003eA: put candy in the red bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- place an orange in the white bowl 2- place an orange in the white bowl 3- place a banana in the white bowl Q: immediate next step? \u003cPRED\u003eA: put candy in the red bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- place an orange in the white bowl 2- place an orange in the white bowl 3- place a banana in the white bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put candy in the red bowl 2- place a candy in brown bowl 3- place a candy in brown bowl 4- place a candy in brown bowl 5- place a candy in brown bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put candy in the red bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput candy in 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\nput candy in 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put candy in the red bowl\n\u003c/PRED\u003e","video":"15248262501943875004.mp4"}
+{"uid":"6060113802287783375","text":"\u003ctask:success:discrete:True\u003e\nplace a banana in 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 a banana in the white bowl\n\u003c/PRED\u003e","video":"7521784014333041986.mp4"}
+{"uid":"5372588122624019904","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place a candy in brown bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace a candy in brown 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":"4126239325837894141.mp4"}
+{"uid":"582210735453208124","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick the blue 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":"16035679096557200301.mp4"}
+{"uid":"930889728714147541","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":"8419414175200117508.mp4"}
+{"uid":"3906145408190661285","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the orange packet inside the white paper tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3424877474132414105.mp4"}
+{"uid":"16715901629606704005","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the pink 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":"10293641852806501272.mp4"}
+{"uid":"336624023176873235","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. Q: immediate next step? \u003cPRED\u003eA: put candy in the red bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- place an orange in the white bowl 2- place an orange in the white bowl 3- place a banana in the white bowl 4- place a candy in brown bowl 5- place a candy in brown bowl 6- place a candy in brown bowl 7- place a candy in brown bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put candy in the red bowl 2- place a tissue on the table 3- place brown bowl on the tissue 4- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put candy in the red bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put candy in the red bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- place an orange in the white bowl 2- place an orange in the white bowl 3- place a banana in the white bowl 4- place a candy in brown bowl 5- place a candy in brown bowl 6- place a candy in brown bowl 7- place a candy in brown bowl Q: immediate next step? \u003cPRED\u003eA: put candy in the red bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput candy in 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","video":"7810485633899907412.mp4"}
+{"uid":"9230428713119067406","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- place an orange in the white bowl Q: immediate next step? \u003cPRED\u003eA: put orange in the white bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- place an orange in the white bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put orange in the white bowl 2- place a candy in brown bowl 3- place a candy in brown bowl 4- place a candy in brown bowl 5- place a candy in brown bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput orange in 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:planning:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. Q: immediate next step? \u003cPRED\u003eA: put orange in the white bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put orange in the 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 white bowl\n\u003c/PRED\u003e","video":"4392694253462653179.mp4"}
+{"uid":"11472810502814710882","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place an orange in the white bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace an orange in 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":"3214244782066811548.mp4"}
+{"uid":"12590675941004672187","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":"7178684008073320148.mp4"}
+{"uid":"15171025726652186501","text":"\u003ctask:success:discrete:False\u003e\nput orange in 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: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put orange in the white bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput orange in 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:planning:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. Q: immediate next step? \u003cPRED\u003eA: put orange in the white bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put orange in the 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 white bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put orange in the white bowl 2- place a banana in the white bowl 3- place a candy in brown bowl 4- place a candy in brown bowl 5- place a candy in brown bowl\n\u003c/PRED\u003e","video":"11851190034588900319.mp4"}
+{"uid":"16333093737430939051","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- place an orange in the white bowl 2- place an orange in the white bowl 3- place a banana in the white bowl 4- place a candy in brown bowl Q: immediate next step? \u003cPRED\u003eA: put candy in brown bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put candy in brown bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput candy in brown 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 candy in brown bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- place an orange in the white bowl 2- place an orange in the white bowl 3- place a banana in the white bowl 4- place a candy in brown bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put candy in brown bowl 2- place a candy in brown bowl 3- place a candy in brown bowl 4- place a tissue on the table 5- place brown bowl on the tissue\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. Q: immediate next step? \u003cPRED\u003eA: put candy in brown bowl\n\u003c/PRED\u003e","video":"11969069290470245960.mp4"}
+{"uid":"9855471802220592112","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace a candy in brown 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 a candy in brown bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- place an orange in the white bowl 2- place an orange in the white bowl 3- place a banana in the white bowl 4- place a candy in brown bowl 5- place a candy in brown bowl 6- place a candy in brown bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place a candy in brown bowl 2- place a candy in brown bowl 3- place a tissue on the table 4- place brown bowl on the tissue 5- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- place an orange in the white bowl 2- place an orange in the white bowl 3- place a banana in the white bowl 4- place a candy in brown bowl 5- place a candy in brown bowl 6- place a candy in brown bowl Q: immediate next step? \u003cPRED\u003eA: place a candy in brown bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. Q: immediate next step? \u003cPRED\u003eA: place a candy in brown bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place a candy in brown bowl\n\u003c/PRED\u003e","video":"14749812176039232894.mp4"}
+{"uid":"2410891747512837287","text":"\u003ctask:success:discrete:True\u003e\nplace an orange in 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 orange in the white bowl\n\u003c/PRED\u003e","video":"4742216598377885853.mp4"}
+{"uid":"6210441066953613997","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- place an orange in the white bowl Q: immediate next step? \u003cPRED\u003eA: put 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 white bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put orange in white bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- place an orange in the white bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put orange in white bowl 2- place a candy in brown bowl 3- place a candy in brown bowl 4- place a candy in brown bowl 5- place a candy in brown bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. Q: immediate next step? \u003cPRED\u003eA: put orange in white bowl\n\u003c/PRED\u003e","video":"12935667607229338998.mp4"}
+{"uid":"849035930437847713","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. Q: immediate next step? \u003cPRED\u003eA: put banana in the white bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put banana in the white bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput banana in 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:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put banana in the white bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput banana in 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: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- place an orange in the white bowl 2- place an orange in the white bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put banana in the white bowl 2- place a candy in brown bowl 3- place a candy in brown bowl 4- place a candy in brown bowl 5- place a candy in brown bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- place an orange in the white bowl 2- place an orange in the white bowl Q: immediate next step? \u003cPRED\u003eA: put banana in the white bowl\n\u003c/PRED\u003e","video":"17064247449796935974.mp4"}
+{"uid":"18231369569027462920","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- place an orange in the white bowl 2- place an orange in the white bowl 3- place a banana in the white bowl 4- place a candy in brown bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put candy in the red bowl 2- place a candy in brown bowl 3- place a candy in brown bowl 4- place a tissue on the table 5- place brown bowl on the tissue\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put candy in the red bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put candy in the red bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. Q: immediate next step? \u003cPRED\u003eA: put candy in the red bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput candy in 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: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- place an orange in the white bowl 2- place an orange in the white bowl 3- place a banana in the white bowl 4- place a candy in brown bowl Q: immediate next step? \u003cPRED\u003eA: put candy in the red bowl\n\u003c/PRED\u003e","video":"14225074010546851894.mp4"}
+{"uid":"1267357921543241303","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- place an orange in the white bowl 2- place an orange in the white bowl 3- place a banana in the white bowl 4- place a candy in brown bowl 5- place a candy in brown bowl 6- place a candy in brown bowl 7- place a candy in brown bowl 8- place a candy in brown bowl Q: immediate next step? \u003cPRED\u003eA: place a tissue on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. 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: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 the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- place an orange in the white bowl 2- place an orange in the white bowl 3- place a banana in the white bowl 4- place a candy in brown bowl 5- place a candy in brown bowl 6- place a candy in brown bowl 7- place a candy in brown bowl 8- place a candy in brown bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place a tissue on the table 2- place brown bowl on the tissue 3- done\n\u003c/PRED\u003e","video":"11118817409268165735.mp4"}
+{"uid":"7071683374787434135","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput fruit 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":"13800205093095374692.mp4"}
+{"uid":"851346044371706770","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place a candy in brown bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- place an orange in the white bowl 2- place an orange in the white bowl 3- place a banana in the white bowl 4- place a candy in brown bowl 5- place a candy in brown bowl 6- place a candy in brown bowl 7- place a candy in brown bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place a candy in brown bowl 2- place a tissue on the table 3- place brown bowl on the tissue 4- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. Q: immediate next step? \u003cPRED\u003eA: place a candy in brown bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place a candy in brown bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- place an orange in the white bowl 2- place an orange in the white bowl 3- place a banana in the white bowl 4- place a candy in brown bowl 5- place a candy in brown bowl 6- place a candy in brown bowl 7- place a candy in brown bowl Q: immediate next step? \u003cPRED\u003eA: place a candy in brown bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace a candy in brown 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":"13721316327977618016.mp4"}
+{"uid":"4773004587252928426","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput brown bowl on 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put brown bowl on tissue\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- place an orange in the white bowl 2- place an orange in the white bowl 3- place a banana in the white bowl 4- place a candy in brown bowl 5- place a candy in brown bowl 6- place a candy in brown bowl 7- place a candy in brown bowl 8- place a candy in brown bowl 9- place a tissue on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put brown bowl on tissue 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put brown bowl on tissue\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput brown bowl on 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:planning:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. Q: immediate next step? \u003cPRED\u003eA: put brown bowl on tissue\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- place an orange in the white bowl 2- place an orange in the white bowl 3- place a banana in the white bowl 4- place a candy in brown bowl 5- place a candy in brown bowl 6- place a candy in brown bowl 7- place a candy in brown bowl 8- place a candy in brown bowl 9- place a tissue on the table Q: immediate next step? \u003cPRED\u003eA: put brown bowl on tissue\n\u003c/PRED\u003e","video":"14958549566842064945.mp4"}
+{"uid":"14301438074766546328","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the tissue on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14794056234571982835.mp4"}
+{"uid":"7016605344284784412","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- place an orange in the white bowl 2- place an orange in the white bowl 3- place a banana in the white bowl 4- place a candy in brown bowl 5- place a candy in brown bowl 6- place a candy in brown bowl 7- place a candy in brown bowl Q: immediate next step? \u003cPRED\u003eA: put candy in brown bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- place an orange in the white bowl 2- place an orange in the white bowl 3- place a banana in the white bowl 4- place a candy in brown bowl 5- place a candy in brown bowl 6- place a candy in brown bowl 7- place a candy in brown bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put candy in brown bowl 2- place a tissue on the table 3- place brown bowl on the tissue 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput candy in brown 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 candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. Q: immediate next step? \u003cPRED\u003eA: put candy in brown bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put candy in brown bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put candy in brown bowl\n\u003c/PRED\u003e","video":"5279620112979487504.mp4"}
+{"uid":"9496345593175183909","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. Q: immediate next step? \u003cPRED\u003eA: put orange in white bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put orange in white bowl 2- place an orange in the white bowl 3- place a banana in the white bowl 4- place a candy in brown bowl 5- place a candy in brown bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put orange in white bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put orange in white bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put orange in white bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput 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":"16873526979669273434.mp4"}
+{"uid":"11600755404900688276","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":"14186380858256852409.mp4"}
+{"uid":"326655719146873923","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- place an orange in the white bowl 2- place an orange in the white bowl 3- place a banana in the white bowl 4- place a candy in brown bowl 5- place a candy in brown bowl 6- place a candy in brown bowl Q: immediate next step? \u003cPRED\u003eA: put candy in brown bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput candy in brown 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 candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- place an orange in the white bowl 2- place an orange in the white bowl 3- place a banana in the white bowl 4- place a candy in brown bowl 5- place a candy in brown bowl 6- place a candy in brown bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put candy in brown bowl 2- place a candy in brown bowl 3- place a tissue on the table 4- place brown bowl on the tissue 5- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put candy in brown bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put candy in brown bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. Q: immediate next step? \u003cPRED\u003eA: put candy in brown bowl\n\u003c/PRED\u003e","video":"6676310436786221578.mp4"}
+{"uid":"13681459505010393633","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":"8980494562380719813.mp4"}
+{"uid":"5390084336529468788","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":"14775113809170140654.mp4"}
+{"uid":"5905431331233132770","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput 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":"14511063337334659886.mp4"}
+{"uid":"16463707283816355936","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the black object in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the black object 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":"3533059870830767172.mp4"}
+{"uid":"13370813947330123197","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the paper clip in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the office supplies into the holder. last 20 steps: 1- put tape in the holder 2- place the black object in the holder 3- place the clip in the holder Q: immediate next step? \u003cPRED\u003eA: Put the paper clip in the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the paper clip in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the office supplies into the holder. last 20 steps: 1- put tape in the holder 2- place the black object in the holder 3- place the clip in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- Put the paper clip in the holder 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the office supplies into the holder. Q: immediate next step? \u003cPRED\u003eA: Put the paper clip in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the paper 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:discriminative:discrete:True\u003e\nPut the paper 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","video":"15767934609088985695.mp4"}
+{"uid":"5294702686109821142","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the office supplies into the holder. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put tape in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put tape in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput tape 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 into the holder. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put tape in the holder 2- place the black object in the holder 3- place the clip in the holder 4- place the clip in the holder 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput tape 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 tape in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the office supplies into the holder. Q: immediate next step? \u003cPRED\u003eA: put tape in the holder\n\u003c/PRED\u003e","video":"17501815334229986621.mp4"}
+{"uid":"10585684960078221043","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the office supplies into the holder. last 20 steps: 1- put tape in the holder 2- place the black object in the holder 3- place the clip in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- put clip in the holder 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put clip in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the office supplies into the holder. last 20 steps: 1- put tape in the holder 2- place the black object in the holder 3- place the clip in the holder Q: immediate next step? \u003cPRED\u003eA: put clip in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the office supplies into the holder. Q: immediate next step? \u003cPRED\u003eA: put clip in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put clip in the holder\n\u003c/PRED\u003e","video":"3625682271716663699.mp4"}
+{"uid":"7184694537948299670","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the clip in the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the clip in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the office supplies into the holder. Q: immediate next step? \u003cPRED\u003eA: place the clip in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the office supplies into the holder. last 20 steps: 1- put tape in the holder 2- place the black object in the holder 3- place the clip in the holder Q: immediate next step? \u003cPRED\u003eA: place the clip in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the office supplies into the holder. last 20 steps: 1- put tape in the holder 2- place the black object in the holder 3- place the clip in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- place the clip in the holder 2- done\n\u003c/PRED\u003e","video":"9399881658187755747.mp4"}
+{"uid":"1713274785152049654","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the office supplies into the holder. Q: immediate next step? \u003cPRED\u003eA: place the clip in the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the clip in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace 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:success:discrete:False\u003e\nplace 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the office supplies into the holder. last 20 steps: 1- put tape in the holder 2- place the black object in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- place the clip in the holder 2- place the clip in the holder 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the clip in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the office supplies into the holder. last 20 steps: 1- put tape in the holder 2- place the black object in the holder Q: immediate next step? \u003cPRED\u003eA: place the clip in the holder\n\u003c/PRED\u003e","video":"14966549743111865459.mp4"}
+{"uid":"17343876169619553256","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":"5034749308272261024.mp4"}
+{"uid":"3450363508724871708","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the clip in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the clip 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the office supplies into the holder. last 20 steps: 1- put tape in the holder 2- place the black object in the holder 3- place the clip in the holder 4- place the clip in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the office supplies into the holder. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the office supplies into the holder. last 20 steps: 1- put tape in the holder 2- place the black object in the holder 3- place the clip in the holder 4- place the clip in the holder Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"8564226039492675847.mp4"}
+{"uid":"13087427251877620284","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":"18122822931273363221.mp4"}
+{"uid":"1315653144285770168","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the black object 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 place the office supplies into the holder. last 20 steps: 1- put tape in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- place the black object in the holder 2- place the clip in the holder 3- place the clip in the holder 4- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the office supplies into the holder. Q: immediate next step? \u003cPRED\u003eA: place the black object in the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the black object in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the black object 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 the black object in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the office supplies into the holder. last 20 steps: 1- put tape in the holder Q: immediate next step? \u003cPRED\u003eA: place the black object in the holder\n\u003c/PRED\u003e","video":"10981028939390640070.mp4"}
+{"uid":"4635111106131535609","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the paper clip in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the paper clip 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":"16872977287146801317.mp4"}
+{"uid":"18229091097131981744","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":"13435647800565339058.mp4"}
+{"uid":"4664769449657888099","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":"1382292370153010317.mp4"}
+{"uid":"6170990751234321563","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":"4437784277745109438.mp4"}
+{"uid":"2493492570690414328","text":"\u003ctask:success:discrete:True\u003e\nplace the box 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 box in the holder\n\u003c/PRED\u003e","video":"12560243233740035732.mp4"}
+{"uid":"6203545545805794685","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the paper clip in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the office supplies into the holder. last 20 steps: 1- put tape in the holder 2- place the black object in the holder Q: immediate next step? \u003cPRED\u003eA: Put the paper clip in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the paper 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the office supplies into the holder. last 20 steps: 1- put tape in the holder 2- place the black object in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- Put the paper clip in the holder 2- place the clip in the holder 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the office supplies into the holder. Q: immediate next step? \u003cPRED\u003eA: Put the paper clip in the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the paper clip in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the paper 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","video":"16238055703187671136.mp4"}
+{"uid":"14392793332691681833","text":"\u003ctask:success:discrete:True\u003e\nput tape 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 tape in the holder\n\u003c/PRED\u003e","video":"17050069305196110835.mp4"}
+{"uid":"9492574018614383318","text":"\u003ctask:success:discrete:True\u003e\nplace the clip 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 clip in the holder\n\u003c/PRED\u003e","video":"9062119402226595224.mp4"}
+{"uid":"280901990706292291","text":"\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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the office supplies into the holder. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Put the green box in the holder\n\u003c/PRED\u003e\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: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\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the office supplies into the holder. Q: immediate next step? \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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the office supplies into the holder. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Put the green box in the holder 2- place the black object in the holder 3- place the clip in the holder 4- place the clip in the holder 5- done\n\u003c/PRED\u003e","video":"2337918217860046308.mp4"}
+{"uid":"17111583334530772331","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the office supplies into the holder. last 20 steps: 1- put tape in the holder Q: immediate next step? \u003cPRED\u003eA: Put the black object in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the black object in the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the black object in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the black object 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 place the office supplies into the holder. last 20 steps: 1- put tape in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- Put the black object in the holder 2- place the clip in the holder 3- place the clip in the holder 4- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the black object 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 into the holder. Q: immediate next step? \u003cPRED\u003eA: Put the black object in the holder\n\u003c/PRED\u003e","video":"9798423736115588144.mp4"}
+{"uid":"11942867220805384205","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the paper chit 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":"9986395530613014980.mp4"}
+{"uid":"3923681279482955395","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":"5656643119452377585.mp4"}
+{"uid":"10569172131111144418","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the office supplies into the holder. Q: immediate next step? \u003cPRED\u003eA: put black box in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put black box in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the office supplies into the holder. last 20 steps: 1- put tape in the holder Q: immediate next step? \u003cPRED\u003eA: put black box in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput black 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\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put black box in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the office supplies into the holder. last 20 steps: 1- put tape in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- put black box in the holder 2- place the clip in the holder 3- place the clip in the holder 4- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput black 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","video":"8029460165491776017.mp4"}
+{"uid":"6879475302864745755","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":"6490066533389957849.mp4"}
+{"uid":"2266888061079639395","text":"\u003ctask:success:discrete:True\u003e\nput black box 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 black box in the holder\n\u003c/PRED\u003e","video":"17325395200489029624.mp4"}
+{"uid":"6993708320056175894","text":"\u003ctask:success:discrete:True\u003e\nput clip 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 clip in the holder\n\u003c/PRED\u003e","video":"7004586297018668332.mp4"}
+{"uid":"8500599981970530159","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the office supplies into the holder. last 20 steps: 1- put tape in the holder 2- place the black object in the holder 3- place the clip in the holder 4- put clip in the holder Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the office supplies into the holder. last 20 steps: 1- put tape in the holder 2- place the black object in the holder 3- place the clip in the holder 4- put clip in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput clip 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 clip in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the office supplies into the holder. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"17899182305017052548.mp4"}
+{"uid":"13759143461753850805","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":"13567947625071520585.mp4"}
+{"uid":"7968371318685954418","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the black object in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the black object 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":"9828904267418105739.mp4"}
+{"uid":"2813806756607136061","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the office supplies into the holder. Q: immediate next step? \u003cPRED\u003eA: put clip in the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put clip in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput 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 clip in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the office supplies into the holder. last 20 steps: 1- put tape in the holder 2- place the black object in the holder Q: immediate next step? \u003cPRED\u003eA: put clip in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the office supplies into the holder. last 20 steps: 1- put tape in the holder 2- place the black object in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- put clip in the holder 2- place the clip in the holder 3- done\n\u003c/PRED\u003e","video":"14251186376814892031.mp4"}
+{"uid":"11029840420593588230","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":"4492044607386022174.mp4"}
+{"uid":"10848366371868270503","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the box in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the office supplies into the holder. Q: immediate next step? \u003cPRED\u003eA: place the box in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the 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 into the holder. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place the box in the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the box in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the office supplies into the holder. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place the box in the holder 2- place the black object in the holder 3- place the clip in the holder 4- place the clip in the holder 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the 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":"13713216884511916857.mp4"}
+{"uid":"9264923009694993126","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":"17205981286254839637.mp4"}
+{"uid":"283084925255469968","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput a 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":"8040741568358211597.mp4"}
+{"uid":"2154745581146940485","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up the pens and place them into the caddy. last 20 steps: 1- place the blue pen in the holder 2- put the orange pen in the holder 3- place the blue pen in the holder 4- place the orange pen in the holder 5- put blue pen in holder 6- place the blue pen in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- place the orange pen in the holder 2- Adjust the holder 3- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the orange 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:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the orange pen in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the orange pen in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the orange 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: please pick up the pens and place them into the caddy Q: immediate next step? \u003cPRED\u003eA: place the orange pen in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up the pens and place them into the caddy. last 20 steps: 1- place the blue pen in the holder 2- put the orange pen in the holder 3- place the blue pen in the holder 4- place the orange pen in the holder 5- put blue pen in holder 6- place the blue pen in the holder Q: immediate next step? \u003cPRED\u003eA: place the orange pen in the holder\n\u003c/PRED\u003e","video":"17418092137792043208.mp4"}
+{"uid":"3949633581975131154","text":"\u003ctask:success:discrete:True\u003e\nput the blue 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: put the blue pen in the holder\n\u003c/PRED\u003e","video":"8096151969950366521.mp4"}
+{"uid":"9861848343315185798","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":"14281387360688365225.mp4"}
+{"uid":"1696084322425234698","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":"13310958525583195347.mp4"}
+{"uid":"1818990263762603760","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace  the lid 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":"441190756957781006.mp4"}
+{"uid":"11970904001599220045","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":"8623483266771312737.mp4"}
+{"uid":"14012515984178000719","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up the pens and place them into the caddy. last 20 steps: 1- place the blue pen in the holder 2- put the orange pen in the holder 3- place the blue pen in the holder Q: immediate next step? \u003cPRED\u003eA: put orange pen in holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up the pens and place them into the caddy. last 20 steps: 1- place the blue pen in the holder 2- put the orange pen in the holder 3- place the blue pen in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- put orange pen in holder 2- put blue pen in holder 3- place the blue pen in the holder 4- place the orange pen in the holder 5- Adjust the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put orange pen in holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put orange pen in holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput orange 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: please pick up the pens and place them into the caddy Q: immediate next step? \u003cPRED\u003eA: put orange pen in holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput orange 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":"5062487451744802850.mp4"}
+{"uid":"6894346672332701933","text":"\u003ctask:success:discrete:True\u003e\nput the blue 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: put the blue pen in the holder\n\u003c/PRED\u003e","video":"12525387249275971265.mp4"}
+{"uid":"1682475210107914460","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the blue pen in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the blue 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":"9491558744655423122.mp4"}
+{"uid":"17214548452420810938","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":"11903651915938612323.mp4"}
+{"uid":"13968180402324449161","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: please pick up the pens and place them into the caddy. last 20 steps: 1- place the blue pen in the holder 2- put the orange pen in 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: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: please pick up the pens and place them into the caddy. last 20 steps: 1- place the blue pen in the holder 2- put the orange pen in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- put blue pen in holder 2- place the orange pen in the holder 3- put blue pen in holder 4- place the blue pen in the holder 5- place the orange pen in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick up the pens and place them into the caddy Q: immediate next step? \u003cPRED\u003eA: put blue pen in holder\n\u003c/PRED\u003e","video":"12466047692313031053.mp4"}
+{"uid":"2135287727198821576","text":"\u003ctask:success:discrete:True\u003e\nput the orange 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: put the orange pen in the holder\n\u003c/PRED\u003e","video":"14971747057193019368.mp4"}
+{"uid":"5229486204901456040","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the blue pen 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":"5839444279082314554.mp4"}
+{"uid":"246272942919143450","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the blue pen in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the blue 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":"4115600661370788003.mp4"}
+{"uid":"5690815697275465463","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up the pens and place them into the caddy. last 20 steps: 1- place the blue pen in the holder 2- put the orange pen in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- place the blue pen in the holder 2- place the orange pen in the holder 3- put blue pen in holder 4- place the blue pen in the holder 5- place the orange pen in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the blue 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:success:discrete:False\u003e\nplace the blue 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:planning:freeform\u003e\ncurrent goal is: please pick up the pens and place them into the caddy Q: immediate next step? \u003cPRED\u003eA: place the blue pen in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up the pens and place them into the caddy. last 20 steps: 1- place the blue pen in the holder 2- put the orange pen in the holder Q: immediate next step? \u003cPRED\u003eA: place the blue pen in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the blue 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 blue pen in the holder\n\u003c/PRED\u003e","video":"9042927271712687975.mp4"}
+{"uid":"4760460403582639932","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the white 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":"6570099788496830061.mp4"}
+{"uid":"2473523016907895805","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the black pen 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":"11435077737676927064.mp4"}
+{"uid":"15736775142419573395","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the blue pen in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the blue 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":"6334460811448006499.mp4"}
+{"uid":"10368819243733245072","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: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\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up the pens and place them into the caddy. last 20 steps: 1- place the blue pen in the holder 2- put the orange pen in the holder 3- place the blue pen in the holder 4- place the orange pen in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- put blue pen in holder 2- place the blue pen in the holder 3- place the orange pen in the holder 4- Adjust the holder 5- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up the pens and place them into the caddy. last 20 steps: 1- place the blue pen in the holder 2- put the orange pen in the holder 3- place the blue pen in the holder 4- place the orange pen in 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:planning:freeform\u003e\ncurrent goal is: please pick up the pens and place them into the caddy Q: immediate next step? \u003cPRED\u003eA: put blue pen in holder\n\u003c/PRED\u003e","video":"8073168488802550627.mp4"}
+{"uid":"5958250815339032570","text":"\u003ctask:success:discrete:False\u003e\nplace the blue 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 blue 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 blue pen in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up the pens and place them into the caddy. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place the blue pen in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up the pens and place them into the caddy. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place the blue pen in the holder 2- put the orange pen in the holder 3- place the blue pen in the holder 4- place the orange pen in the holder 5- put blue pen in holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the blue pen in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick up the pens and place them into the caddy Q: immediate next step? \u003cPRED\u003eA: place the blue pen in the holder\n\u003c/PRED\u003e","video":"3415487667795438505.mp4"}
+{"uid":"8516999803077280256","text":"\u003ctask:success:discrete:True\u003e\nplace the orange 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 orange pen in the holder\n\u003c/PRED\u003e","video":"11147100669166911946.mp4"}
+{"uid":"17184711461613931113","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up the pens and place them into the caddy. last 20 steps: 1- place the blue pen in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- put the orange pen in the holder 2- place the blue pen in the holder 3- place the orange pen in the holder 4- put blue pen in holder 5- place the blue pen in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the orange 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:planning:freeform\u003e\ncurrent goal is: please pick up the pens and place them into the caddy Q: immediate next step? \u003cPRED\u003eA: put the orange pen in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the orange 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up the pens and place them into the caddy. last 20 steps: 1- place the blue pen in the holder Q: immediate next step? \u003cPRED\u003eA: put the orange pen 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 pen in the 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 holder\n\u003c/PRED\u003e","video":"11731424175021743850.mp4"}
+{"uid":"1534903473310405445","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick up the pens and place them into the caddy Q: immediate next step? \u003cPRED\u003eA: place the blue pen in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up the pens and place them into the caddy. last 20 steps: 1- place the blue pen in the holder 2- put the orange pen in the holder 3- place the blue pen in the holder 4- place the orange pen in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- place the blue pen in the holder 2- place the blue pen in the holder 3- place the orange pen in the holder 4- Adjust the holder 5- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up the pens and place them into the caddy. last 20 steps: 1- place the blue pen in the holder 2- put the orange pen in the holder 3- place the blue pen in the holder 4- place the orange pen in the holder Q: immediate next step? \u003cPRED\u003eA: place the blue pen in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the blue 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 blue pen in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the blue 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:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the blue pen in the holder\n\u003c/PRED\u003e","video":"8172280026415249993.mp4"}
+{"uid":"17429643932873410767","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ngrasp the right 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":"15707250553877022255.mp4"}
+{"uid":"17274853987506040055","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up the pens and place them into the caddy. last 20 steps: none 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: please pick up the pens and place them into the caddy 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: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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up the pens and place them into the caddy. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put blue pen in holder 2- put the orange pen in the holder 3- place the blue pen in the holder 4- place the orange pen in the holder 5- put blue pen in holder\n\u003c/PRED\u003e","video":"9063274398672538793.mp4"}
+{"uid":"6917195645797536594","text":"\u003ctask:success:discrete:True\u003e\nplace the blue 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 blue pen in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the blue 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: put the blue pen in the holder\n\u003c/PRED\u003e","video":"3163350367747914896.mp4"}
+{"uid":"6122870152192590808","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":"4199701340809322210.mp4"}
+{"uid":"11937470539734330071","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put orange pen in holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up the pens and place them into the caddy. last 20 steps: 1- place the blue pen in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- put orange pen in holder 2- place the blue pen in the holder 3- place the orange pen in the holder 4- put blue pen in holder 5- place the blue pen in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput orange 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 orange pen in holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick up the pens and place them into the caddy Q: immediate next step? \u003cPRED\u003eA: put orange pen in holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up the pens and place them into the caddy. last 20 steps: 1- place the blue pen in the holder Q: immediate next step? \u003cPRED\u003eA: put orange pen in holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput orange 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":"1751838767732385901.mp4"}
+{"uid":"4848640414157627663","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the yellow packet 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":"10221427186701190280.mp4"}
+{"uid":"16270289211076799196","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the orange pen in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up the pens and place them into the caddy. last 20 steps: 1- place the blue pen in the holder 2- put the orange pen in the holder 3- place the blue pen in the holder Q: immediate next step? \u003cPRED\u003eA: place the orange pen in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the orange 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up the pens and place them into the caddy. last 20 steps: 1- place the blue pen in the holder 2- put the orange pen in the holder 3- place the blue pen in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- place the orange pen in the holder 2- put blue pen in holder 3- place the blue pen in the holder 4- place the orange pen in the holder 5- Adjust the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the orange pen in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the orange 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: please pick up the pens and place them into the caddy Q: immediate next step? \u003cPRED\u003eA: place the orange pen in the holder\n\u003c/PRED\u003e","video":"1325059702691347235.mp4"}
+{"uid":"8329670279133508380","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the blue pen in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick up the pens and place them into the caddy Q: immediate next step? \u003cPRED\u003eA: put the blue pen in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up the pens and place them into the caddy. last 20 steps: 1- place the blue pen in the holder 2- put the orange pen in the holder 3- place the blue pen in the holder 4- place the orange pen in the holder 5- put blue pen in holder Q: next 5 steps? \u003cPRED\u003eA: 1- put the blue pen in the holder 2- place the orange pen in the holder 3- Adjust the holder 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up the pens and place them into the caddy. last 20 steps: 1- place the blue pen in the holder 2- put the orange pen in the holder 3- place the blue pen in the holder 4- place the orange pen in the holder 5- put blue pen in holder Q: immediate next step? \u003cPRED\u003eA: put the blue pen in the 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 holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the blue 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","video":"12957734220743552232.mp4"}
+{"uid":"12708419130367644803","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the orange pen in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the orange 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":"14318730041430246172.mp4"}
+{"uid":"8601663953058045835","text":"\u003ctask:success:discrete:True\u003e\nplace the orange 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 orange pen in the holder\n\u003c/PRED\u003e","video":"3456368179080436884.mp4"}
+{"uid":"2075083551287135683","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":"14405100620467336685.mp4"}
+{"uid":"2235037390003232527","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the snacks packet in the tray right side in a queue Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15818024599731891550.mp4"}
+{"uid":"14540814357806123786","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up the pens and place them into the caddy. last 20 steps: 1- place the blue pen in the holder Q: immediate next step? \u003cPRED\u003eA: place the blue pen in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the blue 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 blue 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 blue pen in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick up the pens and place them into the caddy Q: immediate next step? \u003cPRED\u003eA: place the blue 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 blue pen in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up the pens and place them into the caddy. last 20 steps: 1- place the blue pen in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- place the blue pen in the holder 2- place the blue pen in the holder 3- place the orange pen in the holder 4- put blue pen in holder 5- place the blue pen in the holder\n\u003c/PRED\u003e","video":"578580048153594840.mp4"}
+{"uid":"15151417856346116426","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the blue pen in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick up the pens and place them into the caddy Q: immediate next step? \u003cPRED\u003eA: put the blue pen in the 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 holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the blue 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\nput the blue 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: please pick up the pens and place them into the caddy. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put the blue pen in the holder 2- put the orange pen in the holder 3- place the blue pen in the holder 4- place the orange pen in the holder 5- put blue pen in holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up the pens and place them into the caddy. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put the blue pen in the holder\n\u003c/PRED\u003e","video":"11173053313271936456.mp4"}
+{"uid":"605102485925084531","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":"3176934351313353942.mp4"}
+{"uid":"17684807161840350518","text":"\u003ctask:success:discrete:True\u003e\nplace the blue 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 blue pen in the holder\n\u003c/PRED\u003e","video":"2624955317243213852.mp4"}
+{"uid":"5872198831710560358","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":"6852642957237494646.mp4"}
+{"uid":"4210906354816146876","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput orange 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 orange 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:planning:freeform\u003e\ncurrent goal is: please pick up the pens and place them into the caddy Q: immediate next step? \u003cPRED\u003eA: put orange pen in holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put orange pen in holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up the pens and place them into the caddy. last 20 steps: 1- place the blue pen in the holder 2- put the orange pen in the holder 3- place the blue pen in the holder 4- place the orange pen in the holder 5- put blue pen in holder 6- place the blue pen in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- put orange pen in holder 2- Adjust the holder 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put orange pen in holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up the pens and place them into the caddy. last 20 steps: 1- place the blue pen in the holder 2- put the orange pen in the holder 3- place the blue pen in the holder 4- place the orange pen in the holder 5- put blue pen in holder 6- place the blue pen in the holder Q: immediate next step? \u003cPRED\u003eA: put orange pen in holder\n\u003c/PRED\u003e","video":"17924863188961250460.mp4"}
+{"uid":"8215068191516594621","text":"\u003ctask:success:discrete:False\u003e\nput the blue 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: please pick up the pens and place them into the caddy. last 20 steps: 1- place the blue pen in the holder 2- put the orange pen in the holder Q: immediate next step? \u003cPRED\u003eA: put the blue pen in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up the pens and place them into the caddy. last 20 steps: 1- place the blue pen in the holder 2- put the orange pen in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- put the blue pen in the holder 2- place the orange pen in the holder 3- put blue pen in holder 4- place the blue pen in the holder 5- place the orange pen in the 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 holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick up the pens and place them into the caddy Q: immediate next step? \u003cPRED\u003eA: put the blue pen in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the blue 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: put the blue pen in the holder\n\u003c/PRED\u003e","video":"14145653459721235921.mp4"}
+{"uid":"13900082056083047237","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the disinfectant pump 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":"13509111376584255681.mp4"}
+{"uid":"1075263077395361664","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up the pens and place them into the caddy. last 20 steps: 1- place the blue pen in the holder 2- put the orange pen in the holder 3- place the blue pen in the holder 4- place the orange pen in the holder 5- put blue pen in holder 6- place the blue pen in the holder Q: immediate next step? \u003cPRED\u003eA: put the orange pen in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the orange 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:planning:freeform\u003e\ncurrent goal is: please pick up the pens and place them into the caddy Q: immediate next step? \u003cPRED\u003eA: put the orange pen 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 pen in the 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 holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up the pens and place them into the caddy. last 20 steps: 1- place the blue pen in the holder 2- put the orange pen in the holder 3- place the blue pen in the holder 4- place the orange pen in the holder 5- put blue pen in holder 6- place the blue pen in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- put the orange pen in the holder 2- Adjust the holder 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the orange 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","video":"10489212213554397669.mp4"}
+{"uid":"3092865864100170433","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":"12913763899956401629.mp4"}
+{"uid":"16009397780720659287","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the blue pen in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the blue 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":"2476771801907911613.mp4"}
+{"uid":"7565667697672212964","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":"8849410832114503070.mp4"}
+{"uid":"9539297077639914820","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the orange 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up the pens and place them into the caddy. last 20 steps: 1- place the blue pen in the holder 2- put the orange pen in the holder 3- place the blue pen in the holder Q: immediate next step? \u003cPRED\u003eA: put the orange pen in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the orange 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:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the orange pen in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick up the pens and place them into the caddy Q: immediate next step? \u003cPRED\u003eA: put the orange pen in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up the pens and place them into the caddy. last 20 steps: 1- place the blue pen in the holder 2- put the orange pen in the holder 3- place the blue pen in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- put the orange pen in the holder 2- put blue pen in holder 3- place the blue pen in the holder 4- place the orange pen in the holder 5- Adjust the 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 holder\n\u003c/PRED\u003e","video":"10837041521346417476.mp4"}
+{"uid":"17335748663201974672","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the choclate 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":"12815279969140941426.mp4"}
+{"uid":"3038890078483534368","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Adjust the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nAdjust 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 pick up the pens and place them into the caddy. last 20 steps: 1- place the blue pen in the holder 2- put the orange pen in the holder 3- place the blue pen in the holder 4- place the orange pen in the holder 5- put blue pen in holder 6- place the blue pen in the holder 7- place the orange pen in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- Adjust the holder 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick up the pens and place them into the caddy Q: immediate next step? \u003cPRED\u003eA: Adjust the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nAdjust 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 pick up the pens and place them into the caddy. last 20 steps: 1- place the blue pen in the holder 2- put the orange pen in the holder 3- place the blue pen in the holder 4- place the orange pen in the holder 5- put blue pen in holder 6- place the blue pen in the holder 7- place the orange pen in the holder Q: immediate next step? \u003cPRED\u003eA: Adjust the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Adjust the holder\n\u003c/PRED\u003e","video":"14691445421269068704.mp4"}
+{"uid":"6557524101857524388","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up the pens and place them into the caddy. last 20 steps: 1- place the blue pen in the holder 2- put the orange pen in the holder 3- place the blue pen in the holder 4- place the orange pen in the holder 5- put blue pen in 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: please pick up the pens and place them into the caddy 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up the pens and place them into the caddy. last 20 steps: 1- place the blue pen in the holder 2- put the orange pen in the holder 3- place the blue pen in the holder 4- place the orange pen in the holder 5- put blue pen in holder Q: next 5 steps? \u003cPRED\u003eA: 1- put blue pen in holder 2- place the orange pen in the holder 3- Adjust the holder 4- done\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","video":"14337656143197889191.mp4"}
+{"uid":"5019467701683899259","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":"5133474609079600168.mp4"}
+{"uid":"13571370475830370838","text":"\u003ctask:success:discrete:True\u003e\nput orange 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 orange pen in holder\n\u003c/PRED\u003e","video":"13617546029705070879.mp4"}
+{"uid":"9223177877518932921","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput pistachio nut 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":"4818680881466743796.mp4"}
+{"uid":"7279987519133063859","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the white packets 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":"7434773160805409445.mp4"}
+{"uid":"4759197022633953085","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nopen the wire 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":"1342870731326553056.mp4"}
+{"uid":"14339418188224975589","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up the pens and place them into the caddy. last 20 steps: 1- place the blue pen in the holder 2- put the orange pen in the holder 3- place the blue pen in the holder 4- place the orange pen in the holder 5- put blue pen in holder 6- place the blue pen in the holder 7- place the orange pen in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- adjust the holder 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: adjust the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nadjust 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 pick up the pens and place them into the caddy. last 20 steps: 1- place the blue pen in the holder 2- put the orange pen in the holder 3- place the blue pen in the holder 4- place the orange pen in the holder 5- put blue pen in holder 6- place the blue pen in the holder 7- place the orange pen in the holder Q: immediate next step? \u003cPRED\u003eA: adjust the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick up the pens and place them into the caddy Q: immediate next step? \u003cPRED\u003eA: adjust the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nadjust 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: adjust the holder\n\u003c/PRED\u003e","video":"9451155162848445059.mp4"}
+{"uid":"9408021212830109730","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the orange pen in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the orange 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":"4762463490488578454.mp4"}
+{"uid":"15167516745578544159","text":"\u003ctask:success:discrete:True\u003e\nput orange 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 orange pen in holder\n\u003c/PRED\u003e","video":"9933959174714295432.mp4"}
+{"uid":"886664664941601270","text":"\u003ctask:success:discrete:True\u003e\nput orange 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 orange pen in holder\n\u003c/PRED\u003e","video":"2442857274313715234.mp4"}
+{"uid":"5861476379965025532","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop the fork into 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":"4570797694611835656.mp4"}
+{"uid":"13484948794816431126","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up the pens and place them into the caddy. last 20 steps: 1- place the blue pen in the holder 2- put the orange pen in the holder 3- place the blue pen in the holder 4- place the orange pen in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- put the blue pen in the holder 2- place the blue pen in the holder 3- place the orange pen in the holder 4- Adjust the holder 5- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the blue 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:planning:freeform\u003e\ncurrent goal is: please pick up the pens and place them into the caddy Q: immediate next step? \u003cPRED\u003eA: put the blue pen in the 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 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 holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up the pens and place them into the caddy. last 20 steps: 1- place the blue pen in the holder 2- put the orange pen in the holder 3- place the blue pen in the holder 4- place the orange pen in the holder Q: immediate next step? \u003cPRED\u003eA: put the blue pen in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the blue 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","video":"11985283082469829577.mp4"}
+{"uid":"243917932691386237","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick up the pens and place them into the caddy Q: immediate next step? \u003cPRED\u003eA: place the blue pen in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the blue 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the blue pen in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up the pens and place them into the caddy. last 20 steps: 1- place the blue pen in the holder 2- put the orange pen in the holder 3- place the blue pen in the holder 4- place the orange pen in the holder 5- put blue pen in holder Q: immediate next step? \u003cPRED\u003eA: place the blue pen in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the blue pen in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up the pens and place them into the caddy. last 20 steps: 1- place the blue pen in the holder 2- put the orange pen in the holder 3- place the blue pen in the holder 4- place the orange pen in the holder 5- put blue pen in holder Q: next 5 steps? \u003cPRED\u003eA: 1- place the blue pen in the holder 2- place the orange pen in the holder 3- Adjust the holder 4- done\n\u003c/PRED\u003e","video":"4302736355057174905.mp4"}
+{"uid":"5850477441469360711","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput 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":"2842112130317989719.mp4"}
+{"uid":"11143332277191603283","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up the black pen into the holder 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":"6032803302517391781.mp4"}
+{"uid":"15296273955479210492","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace 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":"18312279288819183198.mp4"}
+{"uid":"9294906896679314345","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":"10943241511606818891.mp4"}
+{"uid":"14463718032001525454","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove kitchen supplies from holders. last 20 steps: 1- place scrubber on the table 2- place brush on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place soap box on the table 2- place sponge on the table 3- place bottle on the table 4- place knife on the table 5- place knives on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place soap box on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace soap 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 soap box on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove kitchen supplies from holders Q: immediate next step? \u003cPRED\u003eA: place soap box on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove kitchen supplies from holders. last 20 steps: 1- place scrubber on the table 2- place brush on the table Q: immediate next step? \u003cPRED\u003eA: place soap box on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace soap 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":"4650887093472067549.mp4"}
+{"uid":"1271896364545660085","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npull 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":"9616337521859304614.mp4"}
+{"uid":"16230171378644170892","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace knives on the knives Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED: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 knives on the knives\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove kitchen supplies from holders. last 20 steps: 1- place scrubber on the table 2- place brush on the table 3- place soap box on the table 4- place sponge on the table 5- place bottle on the table 6- place knife on the table 7- place knives on the table 8- place knives on the table 9- place knives on the table 10- place knife on the table 11- place knife on the table 12- place knife on the knives 13- place knives on the knives 14- place knives on the knives Q: immediate next step? \u003cPRED\u003eA: place knives on the knives\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove kitchen supplies from holders Q: immediate next step? \u003cPRED\u003eA: place knives on the knives\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place knives on the knives\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove kitchen supplies from holders. last 20 steps: 1- place scrubber on the table 2- place brush on the table 3- place soap box on the table 4- place sponge on the table 5- place bottle on the table 6- place knife on the table 7- place knives on the table 8- place knives on the table 9- place knives on the table 10- place knife on the table 11- place knife on the table 12- place knife on the knives 13- place knives on the knives 14- place knives on the knives Q: next 5 steps? \u003cPRED\u003eA: 1- place knives on the knives 2- place knives on the knives 3- place spoons on the table 4- place spoons on the table 5- place spoons on the table\n\u003c/PRED\u003e","video":"12709362202864116062.mp4"}
+{"uid":"2564466172343973087","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove kitchen supplies from holders. last 20 steps: 1- place scrubber on the table 2- place brush on the table 3- place soap box on the table 4- place sponge on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place bottle on the table 2- place knife on the table 3- place knives on the table 4- place knives on the table 5- place knives on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove kitchen supplies from holders. last 20 steps: 1- place scrubber on the table 2- place brush on the table 3- place soap box on the table 4- place sponge on the table Q: immediate next step? \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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place bottle on the table\n\u003c/PRED\u003e\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: Please remove kitchen supplies from holders Q: immediate next step? \u003cPRED\u003eA: place bottle on the table\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","video":"15555895799314733896.mp4"}
+{"uid":"17279917193746804791","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace knives on the knives Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED: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 knives on the knives\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove kitchen supplies from holders Q: immediate next step? \u003cPRED\u003eA: place knives on the knives\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place knives on the knives\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove kitchen supplies from holders. last 20 steps: 1- place scrubber on the table 2- place brush on the table 3- place soap box on the table 4- place sponge on the table 5- place bottle on the table 6- place knife on the table 7- place knives on the table 8- place knives on the table 9- place knives on the table 10- place knife on the table 11- place knife on the table 12- place knife on the knives Q: immediate next step? \u003cPRED\u003eA: place knives on the knives\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace knives on the knives Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\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 kitchen supplies from holders. last 20 steps: 1- place scrubber on the table 2- place brush on the table 3- place soap box on the table 4- place sponge on the table 5- place bottle on the table 6- place knife on the table 7- place knives on the table 8- place knives on the table 9- place knives on the table 10- place knife on the table 11- place knife on the table 12- place knife on the knives Q: next 5 steps? \u003cPRED\u003eA: 1- place knives on the knives 2- place knives on the knives 3- place knives on the knives 4- place knives on the knives 5- place spoons on the table\n\u003c/PRED\u003e","video":"12999881138270872023.mp4"}
+{"uid":"8008774974689601721","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place spoons on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove kitchen supplies from holders. last 20 steps: 1- place scrubber on the table 2- place brush on the table 3- place soap box on the table 4- place sponge on the table 5- place bottle on the table 6- place knife on the table 7- place knives on the table 8- place knives on the table 9- place knives on the table 10- place knife on the table 11- place knife on the table 12- place knife on the knives 13- place knives on the knives 14- place knives on the knives 15- place knives on the knives 16- place knives on the knives 17- place spoons on the table 18- place spoons on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place spoons on the table 2- place spoons on the table 3- place spoons on the table 4- place spoons on the table 5- place spoons on the spoons\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place spoons on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace 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 remove kitchen supplies from holders. last 20 steps: 1- place scrubber on the table 2- place brush on the table 3- place soap box on the table 4- place sponge on the table 5- place bottle on the table 6- place knife on the table 7- place knives on the table 8- place knives on the table 9- place knives on the table 10- place knife on the table 11- place knife on the table 12- place knife on the knives 13- place knives on the knives 14- place knives on the knives 15- place knives on the knives 16- place knives on the knives 17- place spoons on the table 18- place spoons on the table Q: immediate next step? \u003cPRED\u003eA: place spoons on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove kitchen supplies from holders Q: immediate next step? \u003cPRED\u003eA: place spoons on the table\n\u003c/PRED\u003e","video":"5836619408726071940.mp4"}
+{"uid":"15955255449363739781","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput 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":"4373127278020274284.mp4"}
+{"uid":"13341872830123850171","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove kitchen supplies from holders. last 20 steps: 1- place scrubber on the table 2- place brush on the table 3- place soap box on the table 4- place sponge on the table 5- place bottle on the table 6- place knife on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place knives on the table 2- place knives on the table 3- place knives on the table 4- place knife on the table 5- place knife on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove kitchen supplies from holders Q: immediate next step? \u003cPRED\u003eA: place knives on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place knives on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace knives on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED: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 knives on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove kitchen supplies from holders. last 20 steps: 1- place scrubber on the table 2- place brush on the table 3- place soap box on the table 4- place sponge on the table 5- place bottle on the table 6- place knife on the table Q: immediate next step? \u003cPRED\u003eA: place knives on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace knives 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":"13782567426481406162.mp4"}
+{"uid":"10074068492334630021","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove kitchen supplies from holders. last 20 steps: 1- place scrubber on the table 2- place brush on the table 3- place soap box on the table 4- place sponge on the table 5- place bottle on the table 6- place knife on the table 7- place knives on the table 8- place knives on the table 9- place knives on the table 10- place knife on the table 11- place knife on the table 12- place knife on the knives 13- place knives on the knives Q: immediate next step? \u003cPRED\u003eA: place knives on the knives\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove kitchen supplies from holders Q: immediate next step? \u003cPRED\u003eA: place knives on the knives\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place knives on the knives\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace knives on the knives Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED: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 kitchen supplies from holders. last 20 steps: 1- place scrubber on the table 2- place brush on the table 3- place soap box on the table 4- place sponge on the table 5- place bottle on the table 6- place knife on the table 7- place knives on the table 8- place knives on the table 9- place knives on the table 10- place knife on the table 11- place knife on the table 12- place knife on the knives 13- place knives on the knives Q: next 5 steps? \u003cPRED\u003eA: 1- place knives on the knives 2- place knives on the knives 3- place knives on the knives 4- place spoons on the table 5- place spoons on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place knives on the knives\n\u003c/PRED\u003e","video":"3178941547634723195.mp4"}
+{"uid":"7596305723460113949","text":"\u003ctask:success:discrete:False\u003e\nplace 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove kitchen supplies from holders. last 20 steps: 1- place scrubber on the table 2- place brush on the table 3- place soap box on the table 4- place sponge on the table 5- place bottle on the table 6- place knife on the table 7- place knives on the table 8- place knives on the table 9- place knives on the table 10- place knife on the table 11- place knife on the table 12- place knife on the knives 13- place knives on the knives 14- place knives on the knives 15- place knives on the knives 16- place knives on the knives Q: next 5 steps? \u003cPRED\u003eA: 1- place spoons on the table 2- place spoons on the table 3- place spoons on the table 4- place spoons on the table 5- place spoons on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place spoons on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove kitchen supplies from holders Q: immediate next step? \u003cPRED\u003eA: place spoons on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace 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 remove kitchen supplies from holders. last 20 steps: 1- place scrubber on the table 2- place brush on the table 3- place soap box on the table 4- place sponge on the table 5- place bottle on the table 6- place knife on the table 7- place knives on the table 8- place knives on the table 9- place knives on the table 10- place knife on the table 11- place knife on the table 12- place knife on the knives 13- place knives on the knives 14- place knives on the knives 15- place knives on the knives 16- place knives on the knives Q: immediate next step? \u003cPRED\u003eA: place spoons on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place spoons on the table\n\u003c/PRED\u003e","video":"7693961923753029277.mp4"}
+{"uid":"2534183003096361416","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove the chips from the basket 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 chips from the basket. last 20 steps: 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 6- put packet on the table 7- put packet on the table 8- put packet on the table 9- put packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put packet on the table 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the chips from the basket. last 20 steps: 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 6- put packet on the table 7- put packet on the table 8- put packet on the table 9- put packet on the table 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\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e","video":"17369717193297018561.mp4"}
+{"uid":"10179086378636526829","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place spoon on the spoons\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace spoon on the 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place spoon on the spoons\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove kitchen supplies from holders. last 20 steps: 1- place sponge on the table 2- place bottle on the table 3- place knife on the table 4- place knives on the table 5- place knives on the table 6- place knives on the table 7- place knife on the table 8- place knife on the table 9- place knife on the knives 10- place knives on the knives 11- place knives on the knives 12- place knives on the knives 13- place knives on the knives 14- place spoons on the table 15- place spoons on the table 16- place spoons on the table 17- place spoons on the table 18- place spoons on the table 19- place spoons on the table 20- place spoons on the spoons Q: next 5 steps? \u003cPRED\u003eA: 1- place spoon on the spoons 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove kitchen supplies from holders. last 20 steps: 1- place sponge on the table 2- place bottle on the table 3- place knife on the table 4- place knives on the table 5- place knives on the table 6- place knives on the table 7- place knife on the table 8- place knife on the table 9- place knife on the knives 10- place knives on the knives 11- place knives on the knives 12- place knives on the knives 13- place knives on the knives 14- place spoons on the table 15- place spoons on the table 16- place spoons on the table 17- place spoons on the table 18- place spoons on the table 19- place spoons on the table 20- place spoons on the spoons Q: immediate next step? \u003cPRED\u003eA: place spoon on the spoons\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace spoon on the 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:planning:freeform\u003e\ncurrent goal is: Please remove kitchen supplies from holders Q: immediate next step? \u003cPRED\u003eA: place spoon on the spoons\n\u003c/PRED\u003e","video":"10329168934470697005.mp4"}
+{"uid":"10399298884230779450","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove kitchen supplies from holders Q: immediate next step? \u003cPRED\u003eA: place sponge on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove kitchen supplies from holders. last 20 steps: 1- place scrubber on the table 2- place brush on the table 3- place soap box on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place sponge on the table 2- place bottle on the table 3- place knife on the table 4- place knives on the table 5- place knives on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove kitchen supplies from holders. last 20 steps: 1- place scrubber on the table 2- place brush on the table 3- place soap box on the table Q: immediate next step? \u003cPRED\u003eA: place sponge on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace sponge on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED: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 sponge on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace sponge 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 sponge on the table\n\u003c/PRED\u003e","video":"12576354514729913900.mp4"}
+{"uid":"9282566091188994080","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput pink 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":"3457182993169991632.mp4"}
+{"uid":"13826347283479051259","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove kitchen supplies from holders Q: immediate next step? \u003cPRED\u003eA: place knife on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove kitchen supplies from holders. last 20 steps: 1- place scrubber on the table 2- place brush on the table 3- place soap box on the table 4- place sponge on the table 5- place bottle on the table 6- place knife on the table 7- place knives on the table 8- place knives on the table 9- place knives on the table Q: immediate next step? \u003cPRED\u003eA: place knife on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace knife 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 kitchen supplies from holders. last 20 steps: 1- place scrubber on the table 2- place brush on the table 3- place soap box on the table 4- place sponge on the table 5- place bottle on the table 6- place knife on the table 7- place knives on the table 8- place knives on the table 9- place knives on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place knife on the table 2- place knife on the table 3- place knife on the knives 4- place knives on the knives 5- place knives on the knives\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace knife on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED: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 knife on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place knife on the table\n\u003c/PRED\u003e","video":"16462814036658915667.mp4"}
+{"uid":"7192379612306558829","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the chips from the basket. last 20 steps: 1- put packet on the table 2- 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\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 chips from the basket 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the chips from the basket. last 20 steps: 1- put packet on the table 2- put packet on the table Q: immediate next step? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e","video":"3262399035985060833.mp4"}
+{"uid":"10897091981961510050","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick the item Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"876199597052563000.mp4"}
+{"uid":"10962237675624805924","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove your arm close to the popcorn 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":"5508903880650884038.mp4"}
+{"uid":"10180808197539861083","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the chips from the basket. last 20 steps: 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 6- put packet on the table 7- put packet on the table 8- put 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: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 remove the chips from the basket 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 chips from the basket. last 20 steps: 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 6- put packet on the table 7- put packet on the table 8- put packet on the table 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","video":"17101265436857375099.mp4"}
+{"uid":"12465745899754606005","text":"\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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the chips from the basket. 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:planning:freeform\u003e\ncurrent goal is: Please remove the chips from the basket 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 chips from the basket. 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\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e","video":"3131686821038426253.mp4"}
+{"uid":"4261738772241751126","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the book in trolley 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":"1572813350842278555.mp4"}
+{"uid":"6750197859372863888","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the chips from the basket. last 20 steps: 1- put packet on the table 2- put packet 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 packet on the table 5- put packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove the chips from the basket 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 chips from the basket. last 20 steps: 1- put packet on the table 2- put packet 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: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","video":"13473596034338516170.mp4"}
+{"uid":"10845830929367727951","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the white 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":"7043177377390847300.mp4"}
+{"uid":"3427056397420048299","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place spoons on the spoons\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace spoons on the 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:affordance:discriminative:discrete:True\u003e\nplace spoons on the 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place spoons on the spoons\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove kitchen supplies from holders Q: immediate next step? \u003cPRED\u003eA: place spoons on the spoons\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove kitchen supplies from holders. last 20 steps: 1- place soap box on the table 2- place sponge on the table 3- place bottle on the table 4- place knife on the table 5- place knives on the table 6- place knives on the table 7- place knives on the table 8- place knife on the table 9- place knife on the table 10- place knife on the knives 11- place knives on the knives 12- place knives on the knives 13- place knives on the knives 14- place knives on the knives 15- place spoons on the table 16- place spoons on the table 17- place spoons on the table 18- place spoons on the table 19- place spoons on the table 20- place spoons on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place spoons on the spoons 2- place spoon on the spoons 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove kitchen supplies from holders. last 20 steps: 1- place soap box on the table 2- place sponge on the table 3- place bottle on the table 4- place knife on the table 5- place knives on the table 6- place knives on the table 7- place knives on the table 8- place knife on the table 9- place knife on the table 10- place knife on the knives 11- place knives on the knives 12- place knives on the knives 13- place knives on the knives 14- place knives on the knives 15- place spoons on the table 16- place spoons on the table 17- place spoons on the table 18- place spoons on the table 19- place spoons on the table 20- place spoons on the table Q: immediate next step? \u003cPRED\u003eA: place spoons on the spoons\n\u003c/PRED\u003e","video":"17644763580684684947.mp4"}
+{"uid":"5889262387546290864","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove kitchen supplies from holders. last 20 steps: 1- place scrubber on the table 2- place brush on the table 3- place soap box on the table 4- place sponge on the table 5- place bottle on the table Q: immediate next step? \u003cPRED\u003eA: place knife on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove kitchen supplies from holders Q: immediate next step? \u003cPRED\u003eA: place knife on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace knife on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED: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 knife on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove kitchen supplies from holders. last 20 steps: 1- place scrubber on the table 2- place brush on the table 3- place soap box on the table 4- place sponge on the table 5- place bottle on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place knife on the table 2- place knives on the table 3- place knives on the table 4- place knives on the table 5- place knife on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace knife 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 knife on the table\n\u003c/PRED\u003e","video":"8143143018979544185.mp4"}
+{"uid":"13865569988563055409","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace 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":"13986971889877281209.mp4"}
+{"uid":"13366825092058436130","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove kitchen supplies from holders. last 20 steps: 1- place scrubber on the table 2- place brush on the table 3- place soap box on the table 4- place sponge on the table 5- place bottle on the table 6- place knife on the table 7- place knives on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place knives on the table 2- place knives on the table 3- place knife on the table 4- place knife on the table 5- place knife on the knives\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove kitchen supplies from holders. last 20 steps: 1- place scrubber on the table 2- place brush on the table 3- place soap box on the table 4- place sponge on the table 5- place bottle on the table 6- place knife on the table 7- place knives on the table Q: immediate next step? \u003cPRED\u003eA: place knives on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove kitchen supplies from holders Q: immediate next step? \u003cPRED\u003eA: place knives on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place knives on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace knives on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED: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 knives on the table\n\u003c/PRED\u003e","video":"14979866437190110051.mp4"}
+{"uid":"7657911487532764974","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nWhat text command would you give the robot to get it to do what you saw in the clip you selected? Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6940938912765946142.mp4"}
+{"uid":"9085860622938031349","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove arm towards 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":"10386725773352037379.mp4"}
+{"uid":"5731883786378612999","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace knives on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\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 kitchen supplies from holders Q: immediate next step? \u003cPRED\u003eA: place knives on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place knives on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place knives on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove kitchen supplies from holders. last 20 steps: 1- place scrubber on the table 2- place brush on the table 3- place soap box on the table 4- place sponge on the table 5- place bottle on the table 6- place knife on the table 7- place knives on the table 8- place knives on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place knives on the table 2- place knife on the table 3- place knife on the table 4- place knife on the knives 5- place knives on the knives\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove kitchen supplies from holders. last 20 steps: 1- place scrubber on the table 2- place brush on the table 3- place soap box on the table 4- place sponge on the table 5- place bottle on the table 6- place knife on the table 7- place knives on the table 8- place knives on the table Q: immediate next step? \u003cPRED\u003eA: place knives on the table\n\u003c/PRED\u003e","video":"3465227554023345305.mp4"}
+{"uid":"13269656278469034873","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the pink 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":"11133911807233558318.mp4"}
+{"uid":"9825047344035409909","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place spoons on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove kitchen supplies from holders. last 20 steps: 1- place brush on the table 2- place soap box on the table 3- place sponge on the table 4- place bottle on the table 5- place knife on the table 6- place knives on the table 7- place knives on the table 8- place knives on the table 9- place knife on the table 10- place knife on the table 11- place knife on the knives 12- place knives on the knives 13- place knives on the knives 14- place knives on the knives 15- place knives on the knives 16- place spoons on the table 17- place spoons on the table 18- place spoons on the table 19- place spoons on the table 20- place spoons on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place spoons on the table 2- place spoons on the spoons 3- place spoon on the spoons 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place spoons on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove kitchen supplies from holders. last 20 steps: 1- place brush on the table 2- place soap box on the table 3- place sponge on the table 4- place bottle on the table 5- place knife on the table 6- place knives on the table 7- place knives on the table 8- place knives on the table 9- place knife on the table 10- place knife on the table 11- place knife on the knives 12- place knives on the knives 13- place knives on the knives 14- place knives on the knives 15- place knives on the knives 16- place spoons on the table 17- place spoons on the table 18- place spoons on the table 19- place spoons on the table 20- place spoons on the table Q: immediate next step? \u003cPRED\u003eA: place spoons on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove kitchen supplies from holders Q: immediate next step? \u003cPRED\u003eA: place spoons on the table\n\u003c/PRED\u003e","video":"17996732302633303798.mp4"}
+{"uid":"2711377485770010772","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nOpen pen drawer inside 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":"7541339561348458402.mp4"}
+{"uid":"15671487745407299891","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":"3799180395264566861.mp4"}
+{"uid":"17937385362325761699","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut one tray from the stack 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":"13655701477028535001.mp4"}
+{"uid":"3014212341826155901","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace 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: place spoons on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove kitchen supplies from holders. last 20 steps: 1- place scrubber on the table 2- place brush on the table 3- place soap box on the table 4- place sponge on the table 5- place bottle on the table 6- place knife on the table 7- place knives on the table 8- place knives on the table 9- place knives on the table 10- place knife on the table 11- place knife on the table 12- place knife on the knives 13- place knives on the knives 14- place knives on the knives 15- place knives on the knives 16- place knives on the knives 17- place spoons on the table 18- place spoons on the table 19- place spoons on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place spoons on the table 2- place spoons on the table 3- place spoons on the table 4- place spoons on the spoons 5- place spoon on the spoons\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove kitchen supplies from holders Q: immediate next step? \u003cPRED\u003eA: place spoons on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place spoons on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove kitchen supplies from holders. last 20 steps: 1- place scrubber on the table 2- place brush on the table 3- place soap box on the table 4- place sponge on the table 5- place bottle on the table 6- place knife on the table 7- place knives on the table 8- place knives on the table 9- place knives on the table 10- place knife on the table 11- place knife on the table 12- place knife on the knives 13- place knives on the knives 14- place knives on the knives 15- place knives on the knives 16- place knives on the knives 17- place spoons on the table 18- place spoons on the table 19- place spoons on the table Q: immediate next step? \u003cPRED\u003eA: place spoons on the table\n\u003c/PRED\u003e","video":"9455584554733648700.mp4"}
+{"uid":"4239402003333182687","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place knife on the knives\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove kitchen supplies from holders Q: immediate next step? \u003cPRED\u003eA: place knife on the knives\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace knife on the knives Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED: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 kitchen supplies from holders. last 20 steps: 1- place scrubber on the table 2- place brush on the table 3- place soap box on the table 4- place sponge on the table 5- place bottle on the table 6- place knife on the table 7- place knives on the table 8- place knives on the table 9- place knives on the table 10- place knife on the table 11- place knife on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place knife on the knives 2- place knives on the knives 3- place knives on the knives 4- place knives on the knives 5- place knives on the knives\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove kitchen supplies from holders. last 20 steps: 1- place scrubber on the table 2- place brush on the table 3- place soap box on the table 4- place sponge on the table 5- place bottle on the table 6- place knife on the table 7- place knives on the table 8- place knives on the table 9- place knives on the table 10- place knife on the table 11- place knife on the table Q: immediate next step? \u003cPRED\u003eA: place knife on the knives\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place knife on the knives\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace knife on the knives Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5336652867101564464.mp4"}
+{"uid":"4774433986289480025","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":"11372063705929958058.mp4"}
+{"uid":"14619193566531046476","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop the sugar pouch 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":"17125506834351838513.mp4"}
+{"uid":"6477625791031988354","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":"12214310097790588732.mp4"}
+{"uid":"201169089527347884","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nThrow the brown object 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":"4092100580783059451.mp4"}
+{"uid":"4505285950003543741","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the glasses 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":"7006803139063969789.mp4"}
+{"uid":"4903383746540998039","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the 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":"1331375103292554244.mp4"}
+{"uid":"7597311019013119657","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":"1685295924493032446.mp4"}
+{"uid":"10280431308784030404","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove the chips from the basket 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the chips from the basket. last 20 steps: 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 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 chips from the basket. last 20 steps: 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 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\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":"6656823265586253542.mp4"}
+{"uid":"4248847854120948500","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":"1365498638557509689.mp4"}
+{"uid":"2329066648722181351","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove kitchen supplies from holders. last 20 steps: 1- place scrubber on the table 2- place brush on the table 3- place soap box on the table 4- place sponge on the table 5- place bottle on the table 6- place knife on the table 7- place knives on the table 8- place knives on the table 9- place knives on the table 10- place knife on the table Q: immediate next step? \u003cPRED\u003eA: place knife on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove kitchen supplies from holders. last 20 steps: 1- place scrubber on the table 2- place brush on the table 3- place soap box on the table 4- place sponge on the table 5- place bottle on the table 6- place knife on the table 7- place knives on the table 8- place knives on the table 9- place knives on the table 10- place knife on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place knife on the table 2- place knife on the knives 3- place knives on the knives 4- place knives on the knives 5- place knives on the knives\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place knife on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove kitchen supplies from holders Q: immediate next step? \u003cPRED\u003eA: place knife on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace knife on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\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 knife on the table\n\u003c/PRED\u003e","video":"2614344515491644119.mp4"}
+{"uid":"4049795621029011674","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput white packets 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":"3647970292271646791.mp4"}
+{"uid":"4398261649085743003","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":"6346554970026157054.mp4"}
+{"uid":"10882387342552996977","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":"1098395981317062989.mp4"}
+{"uid":"11330379127416191302","text":"\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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the chips from the basket. last 20 steps: 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 6- 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 chips from the basket. last 20 steps: 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 6- 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- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove the chips from the basket Q: immediate next step? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e","video":"7393018997940476727.mp4"}
+{"uid":"4842733556758775292","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the 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":"13613125420644573379.mp4"}
+{"uid":"3072243482436414277","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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the chips from the basket. last 20 steps: 1- put packet on the table 2- put packet 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: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 chips from the basket. last 20 steps: 1- put packet on the table 2- put packet 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 packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove the chips from the basket 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":"16237436596415845823.mp4"}
+{"uid":"8818771875992190430","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove kitchen supplies from holders Q: immediate next step? \u003cPRED\u003eA: place knives on the knives\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove kitchen supplies from holders. last 20 steps: 1- place scrubber on the table 2- place brush on the table 3- place soap box on the table 4- place sponge on the table 5- place bottle on the table 6- place knife on the table 7- place knives on the table 8- place knives on the table 9- place knives on the table 10- place knife on the table 11- place knife on the table 12- place knife on the knives 13- place knives on the knives 14- place knives on the knives 15- place knives on the knives Q: immediate next step? \u003cPRED\u003eA: place knives on the knives\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place knives on the knives\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place knives on the knives\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace knives on the knives Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED: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 kitchen supplies from holders. last 20 steps: 1- place scrubber on the table 2- place brush on the table 3- place soap box on the table 4- place sponge on the table 5- place bottle on the table 6- place knife on the table 7- place knives on the table 8- place knives on the table 9- place knives on the table 10- place knife on the table 11- place knife on the table 12- place knife on the knives 13- place knives on the knives 14- place knives on the knives 15- place knives on the knives Q: next 5 steps? \u003cPRED\u003eA: 1- place knives on the knives 2- place spoons on the table 3- place spoons on the table 4- place spoons on the table 5- place spoons on the table\n\u003c/PRED\u003e","video":"5288267943212107153.mp4"}
+{"uid":"12801081113937326513","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":"3080314490608748615.mp4"}
+{"uid":"6528986954974925763","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nStack the coffee cup 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":"9733440335167319347.mp4"}
+{"uid":"5423421660515600647","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":"18305982829038209985.mp4"}
+{"uid":"5533454451208418872","text":"\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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the chips from the basket. last 20 steps: 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 6- put packet on the table 7- 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- 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 chips from the basket 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 chips from the basket. last 20 steps: 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 6- put packet on the table 7- put packet on the table Q: immediate next step? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e","video":"11867544912927462903.mp4"}
+{"uid":"17317646296385881829","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput a spoon in the 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":"12318197336557398677.mp4"}
+{"uid":"12533219340324271328","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up the sponge Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12958707865473082787.mp4"}
+{"uid":"12875758531584768179","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the glass stack on existing glass 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":"14405040567013835984.mp4"}
+{"uid":"17406171977509047924","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":"18392413075185091810.mp4"}
+{"uid":"2643813074487736218","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace 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:success:discrete:True\u003e\nplace 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place spoons on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove kitchen supplies from holders. last 20 steps: 1- place scrubber on the table 2- place brush on the table 3- place soap box on the table 4- place sponge on the table 5- place bottle on the table 6- place knife on the table 7- place knives on the table 8- place knives on the table 9- place knives on the table 10- place knife on the table 11- place knife on the table 12- place knife on the knives 13- place knives on the knives 14- place knives on the knives 15- place knives on the knives 16- place knives on the knives 17- place spoons on the table 18- place spoons on the table 19- place spoons on the table 20- place spoons on the table Q: immediate next step? \u003cPRED\u003eA: place spoons on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove kitchen supplies from holders. last 20 steps: 1- place scrubber on the table 2- place brush on the table 3- place soap box on the table 4- place sponge on the table 5- place bottle on the table 6- place knife on the table 7- place knives on the table 8- place knives on the table 9- place knives on the table 10- place knife on the table 11- place knife on the table 12- place knife on the knives 13- place knives on the knives 14- place knives on the knives 15- place knives on the knives 16- place knives on the knives 17- place spoons on the table 18- place spoons on the table 19- place spoons on the table 20- place spoons on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place spoons on the table 2- place spoons on the table 3- place spoons on the spoons 4- place spoon on the spoons 5- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove kitchen supplies from holders Q: immediate next step? \u003cPRED\u003eA: place spoons on the table\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place spoons on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place spoons on the table\n\u003c/PRED\u003e","video":"5840478511314595819.mp4"}
+{"uid":"4360681941005823742","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the tropicana juice 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":"6452295823157875462.mp4"}
+{"uid":"17054543350719441633","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove kitchen supplies from holders. last 20 steps: 1- place scrubber on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place brush on the table 2- place soap box on the table 3- place sponge on the table 4- place bottle on the table 5- place knife on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place brush on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove kitchen supplies from holders. last 20 steps: 1- place scrubber on the table Q: immediate next step? \u003cPRED\u003eA: place brush on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace brush 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 brush on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove kitchen supplies from holders Q: immediate next step? \u003cPRED\u003eA: place brush on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace brush on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2814204840122888254.mp4"}
+{"uid":"5257041089308882781","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove kitchen supplies from holders. last 20 steps: 1- place scrubber on the table 2- place brush on the table 3- place soap box on the table 4- place sponge on the table 5- place bottle on the table 6- place knife on the table 7- place knives on the table 8- place knives on the table 9- place knives on the table 10- place knife on the table 11- place knife on the table 12- place knife on the knives 13- place knives on the knives 14- place knives on the knives 15- place knives on the knives 16- place knives on the knives 17- place spoons on the table Q: immediate next step? \u003cPRED\u003eA: place spoons on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove kitchen supplies from holders Q: immediate next step? \u003cPRED\u003eA: place spoons on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place spoons on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove kitchen supplies from holders. last 20 steps: 1- place scrubber on the table 2- place brush on the table 3- place soap box on the table 4- place sponge on the table 5- place bottle on the table 6- place knife on the table 7- place knives on the table 8- place knives on the table 9- place knives on the table 10- place knife on the table 11- place knife on the table 12- place knife on the knives 13- place knives on the knives 14- place knives on the knives 15- place knives on the knives 16- place knives on the knives 17- place spoons on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place spoons on the table 2- place spoons on the table 3- place spoons on the table 4- place spoons on the table 5- place spoons on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place spoons on the table\n\u003c/PRED\u003e","video":"16866883102152430183.mp4"}